Abstract
This paper presents a novel control prototype for autonomous unmanned aerial vehicle (UAVs) that can operate in dynamic environments. This prototype is called “UAV Modular Control Architecture” or UMCA. It consists of specific components that are organized into two layers: mission planning and mission Supervision. The mission planning layer generates an appropriate flight plan to meet the given mission, and the mission supervision layer interprets the plan and evaluates its execution. The UMCA leads to large advantages such as adaptability, flexibility, robustness, and extensibility.
