Mode-Change Philosophy and Implementation within a DEVS-Based Supervisory Controller for Autonomous Helicopter

This paper presents enhancements to the supervisory controller developed for the National Research Council Canada's Bell 412 autonomous helicopter. Building on a Discrete Event System Specification (DEVS)-based framework, the updated Supervisor introduces two new operational modes-Knobs Mode and Sticks Mode-and a structured approach for managing transitions between them and the existing modes. Drawing inspiration from NASA's Flight Guidance System philosophy, the proposed design emphasizes consistency, scalability, and flexibility in handling multiple autonomy modes. Implementation results demonstrate the effectiveness of the updated architecture in supporting future expansion of autonomous mission operations in complex and dynamic environments.