Distributed infrastructure inspection path planning for aerial robotics subject to time constraints

Christos Papachristos, Kostas Alexis, Luis Rodolfo Garcia Carrillo, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Within this paper, the problem of 3D inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the infrastructure facilities, accounts for their different importance and exploration function and computes an overall inspection path of high inspection reward while respecting the robot endurance or mission time constraints, as well as the vehicle dynamics and sensor limitations. To achieve its goal, it employs an iterative, 3-step optimization strategy within which it first randomly samples a set of possible structures to visit, subsequently solves the derived traveling salesman problem and computes the travel costs, while finally it randomly assigns inspection times to each structure, and evaluates the total inspection reward. For the derivation of the inspection paths per each independent facility, it interfaces a path planner dedicated to the 3D coverage of single structures. The resulting algorithm properties, computational performance and path quality are evaluated using simulation studies as well as an experimental test-case employing a multirotor micro aerial vehicle.

Original languageEnglish (US)
Title of host publication2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages406-412
Number of pages7
ISBN (Electronic)9781467393331
DOIs
StatePublished - Jun 30 2016
Event2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 - Arlington, United States
Duration: Jun 7 2016Jun 10 2016

Publication series

Name2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

Other

Other2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016
CountryUnited States
CityArlington
Period6/7/166/10/16

ASJC Scopus subject areas

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Papachristos, C., Alexis, K., Carrillo, L. R. G., & Tzes, A. (2016). Distributed infrastructure inspection path planning for aerial robotics subject to time constraints. In 2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016 (pp. 406-412). [7502523] (2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2016.7502523