Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

R - Projekt Ramcoveho programu EK

Rok uplatnění

2022

Kód důvěrnosti údajů

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

Název statě ve sborníku

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

ISBN

978-1-6654-0593-5

ISSN

2373-6720

e-ISSN

2575-7296

Počet stran výsledku

6

Strana od-do

1644-1649

Název nakladatele

IEEE Industrial Electronics Society

Místo vydání

Piscataway

Místo konání akce

Dubrovnik

Datum konání akce

21. 6. 2022

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

000854030400196