Giuseppe Silano presents Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications
On 2021-05-27 11:00
at The seminar will be held online
In the talk, we will present and discuss our preliminary results in the context
of the European Union's Horizon 2020 Research and Innovation Programme
AERIAL-CORE.
Project website: https://aerial-core.eu
MRS website: http://mrs.felk.cvut.cz/projects/aerial-core
Standard seminar length ~ 40 min talk, 20 min discussion
ABSTRACT:
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 letter. 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.
PAPER:
G. Silano, T. Baca, R. Penicka, D. Liuzza and M. Saska, "Power Line Inspection
Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications,"
in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 4169-4176, April
2021, doi: 10.1109/LRA.2021.3068114, URL:
https://ieeexplore.ieee.org/document/9384182.
Preprint: http://mrs.felk.cvut.cz/data/papers/Silano2021RAL.pdf
Multimedia: http://mrs.felk.cvut.cz/ral-power-tower-inspection
LINK TO ATTEND THE MEETING:
The seminar will be via Meet:
meet.google.com/mkg-ypjq-ogi
Dial-in: (US) +1 978-515-0402
PIN: 597 652 662#
of the European Union's Horizon 2020 Research and Innovation Programme
AERIAL-CORE.
Project website: https://aerial-core.eu
MRS website: http://mrs.felk.cvut.cz/projects/aerial-core
Standard seminar length ~ 40 min talk, 20 min discussion
ABSTRACT:
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 letter. 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.
PAPER:
G. Silano, T. Baca, R. Penicka, D. Liuzza and M. Saska, "Power Line Inspection
Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications,"
in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 4169-4176, April
2021, doi: 10.1109/LRA.2021.3068114, URL:
https://ieeexplore.ieee.org/document/9384182.
Preprint: http://mrs.felk.cvut.cz/data/papers/Silano2021RAL.pdf
Multimedia: http://mrs.felk.cvut.cz/ral-power-tower-inspection
LINK TO ATTEND THE MEETING:
The seminar will be via Meet:
meet.google.com/mkg-ypjq-ogi
Dial-in: (US) +1 978-515-0402
PIN: 597 652 662#