信号時相論理仕様による複数航空ロボットシステムの電力線点検タスク
Power Line Inspection Tasks with Multi-Aerial Robot Systems via Signal Temporal Logic Specifications
信号時相論理(STL)を用いて、複数のドローンが障害物を避けつつ安全距離を保ちながら電力線点検を行うための軌道計画と、予期せぬ事象に対応する再計画手法を提案した論文。
著者: Giuseppe Silano, Tomas Baca, Robert Penicka, Davide Liuzza, Martin Saska
分類: cs.RO, cs.MA
原文アブストラクト
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 paper. 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.
