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Cooperative coverage path planning for visual inspection
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
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2018 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 74, p. 118-131Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Elsevier, 2018. Vol. 74, p. 118-131
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
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
Note

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

Available from: 2018-03-19 Created: 2018-03-19 Last updated: 2018-05-14Bibliographically 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)
Opponent
Supervisors
Available from: 2018-05-07 Created: 2018-05-07 Last updated: 2018-05-17Bibliographically approved

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