A modular mission management system for micro aerial vehicles

In this paper, we present a modular mission management system for micro aerial vehicles (MAVs), with a successful application in real environments with the actual platform. We use the behaviour tree as the main underlying structure to represent and further execute the complex mission plan. The proposed system is highly modular, allowing the user to specify different missions by simply grouping various mission-independent sub-behaviours together. The paper also describes a set of commonly used behaviours for MAVs. The proposed system has been applied to the 2017 International Micro Air Vehicle Competition (IMAV 2017) and has helped the team win both indoor and outdoor championships.