信号時相論理に基づくマルチロボット送電線点検フレームワーク
A framework for power line inspection tasks with multi-robot systems from signal temporal logic specifications
信号時相論理(STL)を用いて複数クアッドロータの飛行経路を計画し、障害物や立入禁止区域を避けつつ送電線の視覚点検タスクを実行する枠組みを提案した。MATLABシミュレーションで有効性を示した。
著者: Giuseppe Silano, Davide Liuzza, Luigi Iannelli, Martin Saska
分類: cs.RO
原文アブストラクト
Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking for strategies that satisfy different requirements expressed in terms of potential damage and faults detection. This problem comes up with the need of safe planning and control techniques for autonomous robots to perform visual inspection tasks. Such an application becomes even more interesting and of critical importance when considering a multi-robot extension. In this paper, we propose to compute feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications. The planner allows to formulate rather complex missions avoiding obstacles and forbidden areas along the path. Simulations results achieved in MATLAB show the effectiveness of the proposed approach leading the way to experimental tests on the hardware.
