Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints

Kevin Leahy, Dingjiang Zhou, Cristian-Ioan Vasile, Konstantinos Oikonomopoulos, Mac Schwager, Calin Belta

Experimental Robotics, 2016

Abstract

In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic speciﬁcation. Vector ﬁelds were created for use with a diﬀerential ﬂatness-based controller, allowing vehicle ﬂight and deployment to be fully automated according to the motion plans. The use of charging platforms with the vehicles allows for truly persistent missions. Experiments were performed with two quadrotors over 50 runs to validate the theoretical results.

BibTeX

@inproceedings{hsieh_provably_2016,
  address = {Cham},
  title = {Provably {Correct} {Persistent} {Surveillance} for {Unmanned} {Aerial} {Vehicles} {Subject} to {Charging} {Constraints}},
  volume = {109},
  isbn = {978-3-319-23777-0 978-3-319-23778-7},
  url = {http://link.springer.com/10.1007/978-3-319-23778-7_40},
  abstract = {In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic speciﬁcation. Vector ﬁelds were created for use with a diﬀerential ﬂatness-based controller, allowing vehicle ﬂight and deployment to be fully automated according to the motion plans. The use of charging platforms with the vehicles allows for truly persistent missions. Experiments were performed with two quadrotors over 50 runs to validate the theoretical results.},
  language = {en},
  urldate = {2020-09-15},
  booktitle = {Experimental {Robotics}},
  publisher = {Springer International Publishing},
  author = {Leahy, Kevin and Zhou, Dingjiang and Vasile, Cristian-Ioan and Oikonomopoulos, Konstantinos and Schwager, Mac and Belta, Calin},
  editor = {Hsieh, M. Ani and Khatib, Oussama and Kumar, Vijay},
  year = {2016},
  keywords = {aerial, planning, multi-robot},
  pages = {605--619}
}