Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00349582" target="_blank" >RIV/68407700:21230/21:00349582 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2021.3068114" target="_blank" >https://doi.org/10.1109/LRA.2021.3068114</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2021.3068114" target="_blank" >10.1109/LRA.2021.3068114</a>
Alternative languages
Result language
angličtina
Original language name
Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications
Original language description
A framework for computing feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications for power line inspection tasks is proposed in this paper. The planner allows the formulation of complex missions that avoid obstacles and maintain a safe distance between drones while performing the planned mission. An optimization problem is set to generate optimal strategies that satisfy these specifications and also take vehicle constraints into account. Further, an event-triggered replanner is proposed to reply to unforeseen events and external disturbances. An energy minimization term is also considered to implicitly save quad-rotors battery life while carrying out the mission. Numerical simulations in MATLAB and experimental results show the validity and the effectiveness of the proposed approach, and demonstrate its applicability in real-world scenarios.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2021
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
IEEE Robotics and Automation Letters
ISSN
2377-3766
e-ISSN
2377-3766
Volume of the periodical
6
Issue of the periodical within the volume
2
Country of publishing house
US - UNITED STATES
Number of pages
8
Pages from-to
4169-4176
UT code for WoS article
000639767600006
EID of the result in the Scopus database
2-s2.0-85103280788