電力線点検タスクにおける空中認知マルチロボットシステムのための多層ソフトウェアアーキテクチャ
A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks
複数のクアッドロータによる電力線点検支援の協調ミッションを実現する多層ソフトウェアアーキテクチャを提案し、安全性と認知機能を統合してシミュレーションで有効性を示した。
著者: Giuseppe Silano, Jan Bednar, Tiago Nascimento, Jesus Capitan, Martin Saska, Anibal Ollero
分類: cs.RO
原文アブストラクト
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quadrotors providing support in electrical power line inspection operations. The proposed software framework guarantees the compliance with safety requirements between drones and human workers while ensuring that the mission is carried out successfully. Besides, cognitive capabilities are integrated in the multi-vehicle system in order to reply to unforeseen events and external disturbances. The feasibility and effectiveness of the proposed architecture are demonstrated by means of realistic simulations.
