Paper Info
Title
Online Task Planning and Control for Aerial Robots with Fuel Constraints in Winds.
Abstract
Real-world applications of aerial robots must consider operational constraints such as fuel level during task planning. This paper presents an algorithm for automatically synthesizing a continuous non-linear flight controller given a complex temporal logic task specification that can include contingency planning rules. Our method is a hybrid controller where fuel level is treated continuously in the low-level and symbolically in the high-level. The low-level controller assumes the availability of a set of point-estimates of wind velocity and builds a continuous interpolation using Gaussian process regression. Fuel burn and aircraft dynamics are modelled under physically realistic assumptions. Our algorithm is efficient and we show-empirically that it is feasible for online execution and replanning. We present simulation examples of navigation in a wind field and surveillance with fuel constraints.
Year
DOI
Venue
2014
10.1007/978-3-319-16595-0_41
ALGORITHMIC FOUNDATIONS OF ROBOTICS XI
DocType
Volume
ISSN
Conference
107
1610-7438
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Chanyeol Yoo1175.58
Robert Fitch232338.97
Salah Sukkarieh31142141.84