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 - 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
UR - http://www.scopus.com/inward/citedby.url?scp=84920709165&partnerID=8YFLogxK
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 -