The Modelica BehaviorTrees Library: Mission Planning in Continuous-Time for Unmanned Aircraft

Abstract

The paper introduces a continuous-time architecture and a Modelica library for mission planning based on behavior trees. It allows to study the long-time behavior of complex aircraft models in interaction with reactive mission plans by means of efficient simulations. The developed Modelica library is used in a mission example for a solar high-altitude aircraft and the advantages of the behavior tree formulation in both simulation speed and modularity are discussed. The architecture will further be used to deploy automatically coded mission plans to actual flight computers using the functional mockup interface.