Abstract—(Semi-) autonomous complex UAV missions,such as inspection or search-and-rescue in uncertaindynamic environments, require obstacle avoidance andoperator shared control. Combining humans’ cognitiveabilities with fast automation is the key for such missions.This paper presents a flight control system architecturebased on the instantaneous Task Specification usingConstraints (iTaSC) methodology and software framework.iTaSC is a flexible constraint-based programming approach that generates a robot motion at runtime which automatically derives the input for a low-level controller taking into account constraints and intentionsfrom the operator, obstacles and mission constraints.This setup is experimentally validated by navigating amultirotor UAV safely through a GPS-denied corridorusing (intuitive) shared control with a pilot. In addition to the pilot’s commands, automatic obstacle avoidance and object tracking are performed real-time through various onboard sensors and with limited onboard computational power.
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