ICUAS'22 Paper Abstract

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Paper FrP5.4

Calvo Matos, Álvaro (University of Seville), Silano, Giuseppe (Czech Technical University in Prague), Capitan, Jesus (University of Seville)

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

Scheduled for presentation during the Poster Session "Poster Session" (FrP5), Friday, June 24, 2022, 09:00−11:00, Elafiti

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

This information is tentative and subject to change. Compiled on March 29, 2024

Keywords Swarms, UAS Applications, Autonomy

Abstract

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.

 

 

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