Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations
arXiv:2302.04751 · doi:10.1109/ICUAS54217.2022.9836234
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.
6 pages, 7 figures, conference
References in corpus (4)
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Cited by in corpus (4)
- MRS Drone: A Modular Platform for Real-World Deployment of Aerial Multi-Robot Systems
- MRS Modular UAV Hardware Platforms for Supporting Research in Real-World Outdoor and Indoor Environments
- Communications-Aware Robotics: Challenges and Opportunities
- Heterogeneous Multi-robot Task Allocation for Long-Endurance Missions in Dynamic Scenarios