Ändra sökning
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure
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
Visa övriga samt affilieringar
2017 (Engelska)Ingår i: Field and Service Robotics: Results of the 11th International Conference / [ed] Marco Hutter, Roland Siegwart, Cham: Springer, 2017, s. 177-189Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This article presents an aerial tool towards the autonomous cooperative coverage and inspection of a 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). In the presented approach the UAVs are relying only on their onboard computer and sensory system, deployed for inspection of the 3D structure. In this application each agent covers a different part of the scene autonomously, while avoiding collisions. The visual information collected from the aerial team is collaboratively processed to create the 3D model. The performance of the overall setup has been experimentally evaluated in a realistic outdoor infrastructure inspection experiments, providing sparse and dense 3D reconstruction of the inspected structures.

Ort, förlag, år, upplaga, sidor
Cham: Springer, 2017. s. 177-189
Serie
Springer Proceedings in Advanced Robotics, ISSN 2511-1256 ; 5
Nationell ämneskategori
Robotteknik och automation Reglerteknik
Forskningsämne
Reglerteknik
Identifikatorer
URN: urn:nbn:se:ltu:diva-66211DOI: 10.1007/978-3-319-67361-5_12ISBN: 978-3-319-67360-8 (tryckt)ISBN: 978-3-319-67361-5 (digital)OAI: oai:DiVA.org:ltu-66211DiVA, id: diva2:1151117
Konferens
11th Conference on Field and Service Robotics, FSR 2017, Zürich, 12.-15.9.2017
Projekt
Collaborative Aerial Robotic Workers, AEROWORKS
Forskningsfinansiär
EU, Horisont 2020, 644128Tillgänglig från: 2017-10-22 Skapad: 2017-10-22 Senast uppdaterad: 2018-05-29Bibliografiskt granskad
Ingår i avhandling
1. On Visual Area Coverage Using Micro Aerial Vehicles
Öppna denna publikation i ny flik eller fönster >>On Visual Area Coverage Using Micro Aerial Vehicles
2018 (Engelska)Licentiatavhandling, sammanläggning (Övrigt vetenskapligt)
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.

Ort, förlag, år, upplaga, sidor
Luleå: Luleå tekniska universitet, 2018
Serie
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
Nationell ämneskategori
Reglerteknik
Forskningsämne
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 (Engelska)
Opponent
Handledare
Tillgänglig från: 2018-05-07 Skapad: 2018-05-07 Senast uppdaterad: 2018-06-08Bibliografiskt granskad

Open Access i DiVA

fulltext(2563 kB)155 nedladdningar
Filinformation
Filnamn FULLTEXT01.pdfFilstorlek 2563 kBChecksumma SHA-512
59e71047c7adfaddd5027c9d40947ea047e91bc86a69f2ae811ed38cb3effed3fa74538de3e340e37b7c601dc52e5420f40a03caf7f1d630f5d2283476dbb377
Typ fulltextMimetyp application/pdf

Övriga länkar

Förlagets fulltext

Personposter BETA

Mansouri, Sina SharifKanellakis, ChristoforosFresk, EmilKominiak, DariuszNikolakopoulos, George

Sök vidare i DiVA

Av författaren/redaktören
Mansouri, Sina SharifKanellakis, ChristoforosFresk, EmilKominiak, DariuszNikolakopoulos, George
Av organisationen
Signaler och system
Robotteknik och automationReglerteknik

Sök vidare utanför DiVA

GoogleGoogle Scholar
Totalt: 155 nedladdningar
Antalet nedladdningar är summan av nedladdningar för alla fulltexter. Det kan inkludera t.ex tidigare versioner som nu inte längre är tillgängliga.

doi
isbn
urn-nbn

Altmetricpoäng

doi
isbn
urn-nbn
Totalt: 171 träffar
RefereraExporteraLänk till posten
Permanent länk

Direktlänk
Referera
Referensformat
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annat format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annat språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf