Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints

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

Autonomous Robots, 2016

Abstract

In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques are used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic speciﬁcation. Vector ﬁelds are 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 for two different missions over 50 runs each to validate the theoretical results.

BibTeX

@article{leahy_persistent_2016,
  title = {Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints},
  volume = {40},
  issn = {0929-5593, 1573-7527},
  url = {http://link.springer.com/10.1007/s10514-015-9519-z},
  abstract = {In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques are used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic speciﬁcation. Vector ﬁelds are 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 for two different missions over 50 runs each to validate the theoretical results.},
  language = {en},
  number = {8},
  urldate = {2020-09-15},
  journal = {Autonomous Robots},
  author = {Leahy, Kevin and Zhou, Dingjiang and Vasile, Cristian-Ioan and Oikonomopoulos, Konstantinos and Schwager, Mac and Belta, Calin},
  month = dec,
  year = {2016},
  keywords = {aerial, planning, multi-robot},
  pages = {1363--1378},
  month_numeric = {12}
}