TY - JOUR
T1 - Aerial service vehicles for industrial inspection
T2 - task decomposition and plan execution
AU - Cacace, Jonathan
AU - Finzi, Alberto
AU - Lippiello, Vincenzo
AU - Loianno, Giuseppe
AU - Sanzone, Dario
N1 - Funding Information:
The research leading to these results has been supported by the SHERPA and ARCAS collaborative projects, which have received funding from the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreements ICT-600958 and ICT-287617, respectively. The authors are solely responsible for its content. It does not represent the opinion of the European Community and the Community is not responsible for any use that might be made of the information contained therein.
Publisher Copyright:
© 2014, Springer Science+Business Media New York.
PY - 2014/1
Y1 - 2014/1
N2 - This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.
AB - This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.
KW - Aerial service robotics
KW - Autonomous robots
KW - Planning systems
KW - Unmanned air vehicles
UR - http://www.scopus.com/inward/record.url?scp=84920709165&partnerID=8YFLogxK
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U2 - 10.1007/s10489-014-0542-0
DO - 10.1007/s10489-014-0542-0
M3 - Article
AN - SCOPUS:84920709165
SN - 0924-669X
VL - 42
SP - 49
EP - 62
JO - Applied Intelligence
JF - Applied Intelligence
IS - 1
ER -