Documentation of Dark Areas of Large Historical Buildings by a Formation of Unmanned Aerial Vehicles using Model Predictive Control

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F17%3A00312509" target="_blank" >RIV/68407700:21230/17:00312509 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Documentation of Dark Areas of Large Historical Buildings by a Formation of Unmanned Aerial Vehicles using Model Predictive Control

Original language description

A system designed for a unique multi-robot application of closely flying formations of Unmanned Aerial Vehicles (UAVs) in indoor areas is described in this paper. The proposed solution is aimed as a tool for historians and restorers working in large historical buildings such as churches to provide an access to areas that are difficult to reach by humans. In these objects, it is impossible to keep a large scaffolding for a long time due to regular services, which is necessary for studying a long-term influence of restorations works, and some parts of the churches were even not reached by people for decades and need to be inspected. To provide the same documentation and inspection techniques that are used by the experts in lower easily accessible parts of the buildings, we employ a formation of autonomous UAVs, where one of the robots is equipped by a visual sensor and the others by source of light, which provides the required flexibility for control of lightening. The described system in its full complexity has been implemented with achieved robustness and reliability required by deployment in real missions. The technology demonstration has been provided with real UAVs in historical objects to help restorers and conservationists with achieved valuable results used in plans of restoration works. In these missions, UAVs were autonomously hovering at designated locations to be able to demonstrate usefulness of such robotic lightening approach.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

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OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GJ17-16900Y" target="_blank" >GJ17-16900Y: Stabilization and control of teams of relatively-localized micro aerial vehicles in high obstacle density areas</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Proceedings of ETFA'2017

ISBN

978-1-5090-6505-9

ISSN

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e-ISSN

1946-0759

Number of pages

3

Pages from-to

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Publisher name

IEEE

Place of publication

Piscataway, NJ

Event location

Limassol

Event date

Sep 12, 2017

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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