582 research outputs found
Iterator-based temporal logic task planning
Temporal logic task planning for robotic systemssuffers from state explosion when specifications involve largenumbers of discrete locations. We provide a novel approach,particularly suited for tasks specifications with universallyquantified locations, that has constant time with respect tothenumber of locations, enabling synthesis of plans for an arbitrarynumber of them. We propose a hybrid control framework thatuses an iterator to manage the discretised workspace hidingitfrom a plan enacted by a discrete event controller. A downsideof our approach is that it incurs in increased overhead whenexecuting a synthesised plan. We demonstrate that the overheadis reasonable for missions of a fixed-wing Unmanned AerialVehicle in simulated and real scenarios for up to700 000locations
System Architectures for Cooperative Teams of Unmanned Aerial Vehicles Interacting Physically with the Environment
Unmanned Aerial Vehicles (UAVs) have become quite a useful tool for a wide range of
applications, from inspection & maintenance to search & rescue, among others. The
capabilities of a single UAV can be extended or complemented by the deployment
of more UAVs, so multi-UAV cooperative teams are becoming a trend. In that case,
as di erent autopilots, heterogeneous platforms, and application-dependent software
components have to be integrated, multi-UAV system architectures that are fexible
and can adapt to the team's needs are required.
In this thesis, we develop system architectures for cooperative teams of UAVs,
paying special attention to applications that require physical interaction with the
environment, which is typically unstructured. First, we implement some layers to
abstract the high-level components from the hardware speci cs. Then we propose
increasingly advanced architectures, from a single-UAV hierarchical navigation architecture
to an architecture for a cooperative team of heterogeneous UAVs. All
this work has been thoroughly tested in both simulation and eld experiments in
di erent challenging scenarios through research projects and robotics competitions.
Most of the applications required physical interaction with the environment, mainly
in unstructured outdoors scenarios. All the know-how and lessons learned throughout
the process are shared in this thesis, and all relevant code is publicly available.Los vehículos aéreos no tripulados (UAVs, del inglés Unmanned Aerial Vehicles) se han
convertido en herramientas muy valiosas para un amplio espectro de aplicaciones, como
inspección y mantenimiento, u operaciones de rescate, entre otras. Las capacidades de un
único UAV pueden verse extendidas o complementadas al utilizar varios de estos vehículos
simultáneamente, por lo que la tendencia actual es el uso de equipos cooperativos con
múltiples UAVs. Para ello, es fundamental la integración de diferentes autopilotos,
plataformas heterogéneas, y componentes software -que dependen de la aplicación-, por lo
que se requieren arquitecturas multi-UAV que sean flexibles y adaptables a las necesidades
del equipo.
En esta tesis, se desarrollan arquitecturas para equipos cooperativos de UAVs, prestando
una especial atención a aplicaciones que requieran de interacción física con el entorno,
cuya naturaleza es típicamente no estructurada. Primero se proponen capas para abstraer a
los componentes de alto nivel de las particularidades del hardware. Luego se desarrollan
arquitecturas cada vez más avanzadas, desde una arquitectura de navegación para un
único UAV, hasta una para un equipo cooperativo de UAVs heterogéneos. Todo el trabajo ha
sido minuciosamente probado, tanto en simulación como en experimentos reales, en
diferentes y complejos escenarios motivados por proyectos de investigación y
competiciones de robótica. En la mayoría de las aplicaciones se requería de interacción
física con el entorno, que es normalmente un escenario en exteriores no estructurado. A lo
largo de la tesis, se comparten todo el conocimiento adquirido y las lecciones aprendidas en
el proceso, y el código relevante está publicado como open-source
A Multilevel Architecture for Autonomous UAVs
In this paper, a multilevel architecture able to interface an on-board computer with a generic UAV flight controller and its radio receiver is proposed. The computer board exploits the same standard communication protocol of UAV flight controllers and can easily access additional data, such as: (i) inertial sensor measurements coming from a multi-sensor board; (ii) global navigation satellite system (GNSS) coordinates; (iii) streaming video from one or more cameras; and (iv) operator commands from the remote control. In specific operating scenarios, the proposed platform is able to act as a “cyber pilot” which replaces the role of a human UAV operator, thus simplifying the development of complex tasks such as those based on computer vision and artificial intelligence (AI) algorithms which are typically employed in autonomous flight operations
An Offline/Online DDDAS Capability for Self-Aware Aerospace Vehicles
In this paper we develop initial offline and online capabilities for a self-aware aerospace vehicle. Such a vehicle can dynamically adapt the way it performs missions by gathering information about itself and its surroundings via sensors and responding intelligently. The key challenge to enabling such a self-aware aerospace vehicle is to achieve tasks of dynamically and autonomously sensing, planning, and acting in real time. Our first steps towards achieving this goal are presented here, where we consider the execution of online mapping strategies from sensed data to expected vehicle capability while accounting for uncertainty. Libraries of strain, capability, and maneuver loading are generated offline using vehicle and mission modeling capabilities we have developed in this work. These libraries are used dynamically online as part of a Bayesian classification process for estimating the capability state of the vehicle. Failure probabilities are then computed online for specific maneuvers. We demonstrate our models and methodology on decisions surrounding a standard rate turn maneuver
Towards a Reduced Dependency Framework for Autonomous Unified Inspect-Explore Missions
The task of establishing and maintaining situational awareness in an unknown
environment is a critical step to fulfil in a mission related to the field of
rescue robotics. Predominantly, the problem of visual inspection of urban
structures is dealt with view-planning being addressed by map-based approaches.
In this article, we propose a novel approach towards effective use of Micro
Aerial Vehicles (MAVs) for obtaining a 3-D shape of an unknown structure of
objects utilizing a map-independent planning framework. The problem is
undertaken via a bifurcated approach to address the task of executing a closer
inspection of detected structures with a wider exploration strategy to identify
and locate nearby structures, while being equipped with limited sensing
capability. The proposed framework is evaluated experimentally in a controlled
indoor environment in presence of a mock-up environment validating the efficacy
of the proposed inspect-explore policy
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