Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F22%3A00359359" target="_blank" >RIV/68407700:21230/22:00359359 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/ICUAS54217.2022.9836234" target="_blank" >https://doi.org/10.1109/ICUAS54217.2022.9836234</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICUAS54217.2022.9836234" target="_blank" >10.1109/ICUAS54217.2022.9836234</a>
Alternative languages
Result language
angličtina
Original language name
Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations
Original language description
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles’ capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
—
OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
—
Continuities
R - Projekt Ramcoveho programu EK
Others
Publication year
2022
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
2022 International Conference on Unmanned Aircraft Systems (ICUAS)
ISBN
978-1-6654-0593-5
ISSN
2373-6720
e-ISSN
2575-7296
Number of pages
6
Pages from-to
1644-1649
Publisher name
IEEE Industrial Electronics Society
Place of publication
Piscataway
Event location
Dubrovnik
Event date
Jun 21, 2022
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
000854030400196