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Cooperative coverage path planning for visual inspection
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-7631-002X
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-5735-5484
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-2001-7171
Vise andre og tillknytning
2018 (engelsk)Inngår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 74, s. 118-131Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This article addresses the inspection problem of a complex 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). The main novelty of the proposed scheme stems from the establishment of a theoretical framework capable of providing a path for accomplishing a full coverage of the infrastructure, without any further simplifications (number of considered representation points), by slicing it by horizontal planes to identify branches and assign specific areas to each agent as a solution to an overall optimization problem. Furthermore, the image streams collected during the coverage task are post-processed using Structure from Motion, stereo SLAM and mesh reconstruction algorithms, while the resulting 3D mesh can be used for further visual inspection purposes. The performance of the proposed Collaborative-Coverage Path Planning (C-CPP) has been experimentally evaluated in multiple indoor and realistic outdoor infrastructure inspection experiments and as such it is also contributing significantly towards real life applications for UAVs.

sted, utgiver, år, opplag, sider
Elsevier, 2018. Vol. 74, s. 118-131
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-68001DOI: 10.1016/j.conengprac.2018.03.002ISI: 000430892900011Scopus ID: 2-s2.0-85043460347OAI: oai:DiVA.org:ltu-68001DiVA, id: diva2:1191592
Prosjekter
Collaborative Aerial Robotic Workers, AEROWORKS
Forskningsfinansiär
EU, Horizon 2020, 644128
Merknad

Validerad;2018;Nivå 2;2018-03-19 (andbra)

Tilgjengelig fra: 2018-03-19 Laget: 2018-03-19 Sist oppdatert: 2018-05-29bibliografisk kontrollert
Inngår i avhandling
1. On Visual Area Coverage Using Micro Aerial Vehicles
Åpne denne publikasjonen i ny fane eller vindu >>On Visual Area Coverage Using Micro Aerial Vehicles
2018 (engelsk)Licentiatavhandling, med artikler (Annet vitenskapelig)
Abstract [en]

The aim of this Licentiate is to advance the field of cooperative visual coverage path planners for multiple Micro Aerial Vehicles (MAVs), while aiming for their real life adoption towards the tasks of aerial infrastructure inspection. The fields that will be addressed are focusing in: a) the collaborative perception of the environment, b) the collaborative visual inspection, and c) the optimization of the aerial missions based on the remaining flying battery, camera constraints, coverage constraints and other real life mission induced constraints.

Towards this envisioned aim, this Licentiate will present the following main theoretical contributions: a) centralized and distributed Model Predictive Control (MPC) schemes for the cooperative motion control of MAVs focusing in the establishing of a formation control architecture to enable a dynamic visual sensor from monocular cameras towards a reconfigurable environmental perception, b) revisiting the Cooperative Coverage Path Planning (C-CPP) problem for the inspection of complex infrastructures, c) developing a holistic approach to the problems of 2-D area coverage with MAVs for polygon areas, while considering the camera footprint, and d) designing of a scheme to estimate the Remaining Useful Life (RUL) of the battery during a flight mission, a fact that directly effects the flying capabilities of the MAVs. The theoretical contributions of this thesis have been extensively evaluated in simulation and real life large scale field trials, a direction that adds another contribution of the suggested framework towards the massive insertion of the aerial platforms as aerial tools in the close future.

In the first part of this Licentiate, the vision, motivation, open challenges, contributions, and future works are discussed, while in the second part the full articles connected to the presented contributions in this Licentiate are presented in the annex.

sted, utgiver, år, opplag, sider
Luleå: Luleå tekniska universitet, 2018
Serie
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
HSV kategori
Forskningsprogram
Reglerteknik
Identifikatorer
urn:nbn:se:ltu:diva-68666 (URN)978-91-7790-140-2 (ISBN)978-91-7790-141-9 (ISBN)
Presentation
2018-06-15, A1547, Luleå tekniska universitet, Luleå, 13:00 (engelsk)
Opponent
Veileder
Tilgjengelig fra: 2018-05-07 Laget: 2018-05-07 Sist oppdatert: 2018-06-08bibliografisk kontrollert

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