Aerial service vehicles for industrial inspection: task decomposition and plan execution

Jonathan Cacace, Alberto Finzi, Vincenzo Lippiello, Giuseppe Loianno, Dario Sanzone

Research output: Contribution to journalArticle

Abstract

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.

Original languageEnglish (US)
Pages (from-to)49-62
Number of pages14
JournalApplied Intelligence
Volume42
Issue number1
DOIs
StatePublished - 2014

Keywords

  • Aerial service robotics
  • Autonomous robots
  • Planning systems
  • Unmanned air vehicles

ASJC Scopus subject areas

  • Artificial Intelligence

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