Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-7631-002X
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0001-5735-5484
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-2001-7171
Show others and affiliations
2017 (English)In: Field and Service Robotics: Results of the 11th International Conference / [ed] Marco Hutter, Roland Siegwart, Cham: Springer, 2017, p. 177-189Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Cham: Springer, 2017. p. 177-189
Series
Springer Proceedings in Advanced Robotics, ISSN 2511-1256 ; 5
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-66211DOI: 10.1007/978-3-319-67361-5_12ISBN: 978-3-319-67360-8 (print)ISBN: 978-3-319-67361-5 (electronic)OAI: oai:DiVA.org:ltu-66211DiVA, id: diva2:1151117
Conference
11th Conference on Field and Service Robotics, FSR 2017, Zürich, 12.-15.9.2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128Available from: 2017-10-22 Created: 2017-10-22 Last updated: 2018-05-29Bibliographically approved
In thesis
1. On Visual Area Coverage Using Micro Aerial Vehicles
Open this publication in new window or tab >>On Visual Area Coverage Using Micro Aerial Vehicles
2018 (English)Licentiate thesis, comprehensive summary (Other academic)
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.

Place, publisher, year, edition, pages
Luleå: Luleå tekniska universitet, 2018
Series
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
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 (English)
Opponent
Supervisors
Available from: 2018-05-07 Created: 2018-05-07 Last updated: 2018-06-08Bibliographically approved

Open Access in DiVA

fulltext(2563 kB)94 downloads
File information
File name FULLTEXT01.pdfFile size 2563 kBChecksum SHA-512
59e71047c7adfaddd5027c9d40947ea047e91bc86a69f2ae811ed38cb3effed3fa74538de3e340e37b7c601dc52e5420f40a03caf7f1d630f5d2283476dbb377
Type fulltextMimetype application/pdf

Other links

Publisher's full text

Authority records BETA

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

Search in DiVA

By author/editor
Mansouri, Sina SharifKanellakis, ChristoforosFresk, EmilKominiak, DariuszNikolakopoulos, George
By organisation
Signals and Systems
RoboticsControl Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 94 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 141 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf