バッテリー駆動自律飛行ロボットのためのエネルギー考慮型計画・スケジューリング
Energy-Aware Planning-Scheduling for Autonomous Aerial Robots
バッテリー残量を考慮し、飛行経路と機上計算タスクのスケジュールをオンラインで同時計画することで、予期せぬ電池低下にも対応できる手法を提案した論文。
著者: Adam Seewald, Héctor García de Marina, Henrik Skov Midtiby, Ulrik Pagh Schultz
分類: cs.RO
原文アブストラクト
In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a novel variable coverage motion robust to airborne constraints and an empirically motivated energy model. The model includes the energy contribution of the schedule based on an automatic computational energy modeling tool. Our experiments show how an initial flight plan is adjusted online as a function of the available battery, accounting for uncertainty. Our approach remedies possible in-flight failure in case of unexpected battery drops, e.g., due to adverse atmospheric conditions, and increases the overall fault tolerance.
