A parallel hierarchical finite state machine approach to UAV control for search and rescue tasks

The process of developing a system for an Unnamed Aerial Vehicle (UAV) control is a complex task that we should be able to implement a set of elaborated algorithms with specific features as fast response for non-linear inputs, fault tolerance and easy maneuvering procedures. These features define the reachability and quality of the UAV overall control system. In this position paper, we propose a solution for the UAV control process using a Parallel Hierarchical Finite State Machine (PHFSM) that results in a high level system including all features required by an complex UAV control to search and rescue tasks. Following in this approach we can achieve many improvements than other usual implementations. Initials simulation experiments, using data from a simple UAV model, indicate in direction that many issues can be solved by this approach.