異種空中ロボットチームによる送電線点検ミッションの計画と実行
Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations
送電線点検・保守作業を支援するため、能力やバッテリー制約を考慮して異種ドローンチームにタスクを割り当て、ビヘイビアツリーでミッションを実行・再計画するソフトウェア構成を提案し、Gazebo上で検証した。
著者: Alvaro Calvo, Giuseppe Silano, Jesus Capitan
分類: cs.RO
原文アブストラクト
A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles' capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.
