協調型異種空中ロボットによる自律組積造のための安全考慮型最適スケジューリング
Safety-Aware Optimal Scheduling for Autonomous Masonry Construction using Collaborative Heterogeneous Aerial Robots
レンガ配置とモルタル塗布を担う異種ドローン群による組積造のため、硬化期限や衝突回避などの制約下でタスク割当と実行時刻を最適化する枠組みを提案し、Gazeboで有効性を検証した。
詳しい要約
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著者: Marios-Nektarios Stamatopoulos, Shridhar Velhal, Avijit Banerjee, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
This paper presents a novel high-level task planning and optimal coordination framework for autonomous masonry construction, using a team of heterogeneous aerial robotic workers, consisting of agents with separate skills for brick placement and mortar application. This introduces new challenges in scheduling and coordination, particularly due to the mortar curing deadline required for structural bonding and ensuring the safety constraints among UAVs operating in parallel. To address this, an automated pipeline generates the wall construction plan based on the available bricks while identifying static structural dependencies and potential conflicts for safe operation. The proposed framework optimizes UAV task allocation and execution timing by incorporating dynamically coupled precedence deadline constraints that account for the curing process and static structural dependency constraints, while enforcing spatio-temporal constraints to prevent collisions and ensure safety. The primary objective of the scheduler is to minimize the overall construction makespan while minimizing logistics, traveling time between tasks, and the curing time to maintain both adhesion quality and safe workspace separation. The effectiveness of the proposed method in achieving coordinated and time-efficient aerial masonry construction is extensively validated through Gazebo simulated missions. The results demonstrate the framework's capability to streamline UAV operations, ensuring both structural integrity and safety during the construction process.
