Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2021

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

6

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

4169-4176

Kód UT WoS článku

000639767600006

EID výsledku v databázi Scopus

2-s2.0-85103280788