Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications

Silano, Giuseppe; Báča, Tomáš; Pěnička, Robert; Liuzza, Davide; Saska, Martin

doi:10.1109/lra.2021.3068114

Cited by 37 publications

(21 citation statements)

References 17 publications

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“…As far as the first class of robotic systems is concerned, that is robots suspended from cable lines, one can distinguish mainly two-arm and multiarm robots [47][48][49]. As far as the second class of robotic systems is concerned that is unmanned aerial vehicles and aerial manipulators one can distinguish mainly autonomous helicopters, tricopters, quadropters, hexacopters, and octocopters [50][51][52]. These types of drones are often turned into aerial manipulators after attaching robotic arms on the aerial platforms.…”

Section: Computation Of the Robotic System's Lagrangianmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

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The article proposes a nonlinear optimal (H-infinity) control approach for a type of underactuated power-line inspection robots. To implement this control scheme, the state-space model of the power-line inspection robots undergoes first approximate linearization around a temporary operating point, through first-order Taylor series expansion and through the computation of the associated Jacobian matrices. To select the feedback gains of the controller an algebraic Riccati equation is solved at each time step of the control method. The global stability properties of the control loop are proven through Lyapunov analysis. The significance of the article’s results is outlined in the following: (i) the proposed control method is suitable for treating underactuated robotic systems and in general nonlinear dynamical systems with control inputs gain matrices which are in a nonquadratic form, (ii) by achieving stabilization of the power-line inspection robots in underactuation conditions the proposed control method ensures the reliable functioning of these robotic systems in the case of actuators’ failures or enables the complete removal of certain actuators and the reduction of the weight of these robotic systems, (iii) the proposed control method offers a solution to the nonlinear optimal control problem which is of proven global stability while also remaining computationally tractable, (iv) the proposed nonlinear optimal control method retains the advantages of linear optimal control that is fast and accurate tracking of reference setpoints under moderate variations of the control inputs, and (v) by minimizing the amount of energy that is dispersed by the actuators of the power-line inspection robots the proposed control method improves the autonomy and operational capacity of such robotic systems.

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Section: Computation Of the Robotic System's Lagrangianmentioning

confidence: 99%

A nonlinear optimal control approach for underactuated power-line inspection robots

et al. 2021

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“…Although motivations and expectations behind PA can be a good driver for its promotion and implementation, there may be several challenges for the agriculture sector. Challenges to address may include energy consumption, safety and collision avoidance (Silano et al, 2021a). In general, multirotor UAVs can be used for real-time monitoring or data collection to be fed to suitable decision support systems (Silano et al, 2021b).…”

Section: Introductionmentioning

confidence: 99%

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

et al. 2022

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Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.

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“…In the last decade, the research and commercial interest on Unmanned Aerial Vehicles (UAVs) has exploded as demonstrated by the growing number of applications, such as infrastructure monitoring [1], aerial filming [2], surveillance and search and rescue missions [3] and wireless communications [4]. Most of these applications require UAVs with visual sensors and with certain autonomy that enable them to rapidly react in dynamic environments to successfully accomplish their mission.…”

Section: Introductionmentioning

confidence: 99%

A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

Dmytruk

Silano

Bicego

et al. 2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy considers both realistic actuation limits at the torque level and visual perception constraints to enforce the visibility coverage of a target while complying with the mission objectives. Furthermore, the approach allows to safely navigate in a workspace area populated by dynamic obstacles with a ballistic motion. The formulation is meant to be generic and set upon a large class of multi-rotor vehicles that covers both coplanar designs like quadrotors as well as fully-actuated platforms with tilted propellers. The feasibility and effectiveness of the control strategy are demonstrated via closed-loop simulations achieved in MATLAB.

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Power Line Inspection Tasks With Multi-Aerial Robot Systems Via Signal Temporal Logic Specifications

Cited by 37 publications

References 17 publications

A nonlinear optimal control approach for underactuated power-line inspection robots

A nonlinear optimal control approach for underactuated power-line inspection robots

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

A Perception-Aware NMPC for Vision-Based Target Tracking and Collision Avoidance with a Multi-Rotor UAV

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