A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

Silano, Giuseppe; Bednář, Jan; Nascimento, Tiago P.; Capitán, Jesús; Saska, Martin; Ollero, A.

doi:10.1109/icuas51884.2021.9476813

Cited by 14 publications

(9 citation statements)

References 21 publications

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“…The control architecture and the reactive obstacle avoidance and localization modules are based on [9], [11], [25]. Figure 2 shows the sensory equipment layout onboard the MAV platform.…”

Section: System Overviewmentioning

confidence: 99%

“…However, the use of UAVs to achieve these tasks is particularly challenging, due to their limited battery capacity, the strong electromagnetic interference produced by power towers, and the presence of potential obstacles along the lines (e.g., branches, vegetation, marker balls) [9]. Small and lightweight systems with cognitive capabilities, e.g., based on novel perception sensors [10], advanced data fusion techniques [11], planning [12], [13] and control algorithms [14], are of interest to address those complexities and to accomplish the assigned mission safely and successfully.…”

Section: Introductionmentioning

confidence: 99%

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An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs

Demkiv,

Ruffo,

Silano

et al. 2023

Preprint

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An application of stereo thermal vision to perform preliminary inspection operations of electrical power lines by a particular class of small Unmanned Aerial Vehicles (UAVs), aka Micro Unmanned Aerial Vehicles (MAVs), is presented in this paper. The proposed hardware and software setup allows the detection of overheated power equipment, one of the major causes of power outages. The stereo vision complements the GPS information by finely detecting the potential source of damage while also providing a measure of the harm extension. The reduced sizes and the light weight of the vehicle enable to survey areas otherwise difficult to access with standard UAVs. Gazebo simulations and real flight experiments demonstrate the feasibility and effectiveness of the proposed setup.

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“…The control architecture and the reactive obstacle avoidance and localization modules are based on [9], [11], [25]. Figure 2 shows the sensory equipment layout onboard the MAV platform.…”

Section: System Overviewmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs

Demkiv,

Ruffo,

Silano

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…), the execution of the mission is steadily monitored in order to react to unplanned events by recomputing the task assignment online. The software architecture extends and complements our prior work [3], where we integrated the UAV's low-level capabilities taking the task planning part for granted.…”

Section: Introductionmentioning

confidence: 97%

Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations

Calvo

Silano

Capitán

2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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A software architecture aimed at coordinating a team of heterogeneous aerial vehicles for inspection and maintenance operations in high-voltage power line scenarios is presented in this paper. A hierarchical approach deals with high-level tasks by planning and executing complex missions requiring vehicles to support human operators. A resource-constrained problem allows distributing tasks among the team taking into account vehicles' capabilities and battery constraints. Besides, Behavior Trees (BTs) are in charge of mission execution, triggering replanning operations in case of unforeseen events, such as vehicle faults or communication drop-outs. The feasibility and validity of the approach are showcased through realistic simulations achieved in Gazebo.

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“…Challenges to address may include energy consumption, safety and collision avoidance (Silano et al, 2021a). In general, multirotor UAVs can be used for real-time monitoring or data collection to be fed to suitable decision support systems (Silano et al, 2021b). In addition, they can help with more efficient management of soil, crops and livestock (Stafford, 2000;Radoglou-Grammatikis et al, 2020).…”

Section: Introductionmentioning

confidence: 99%

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

et al. 2022

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Multi-rotor Unmanned Aerial Vehicles (UAVs), although originally designed and developed for defence and military purposes, in the last ten years have gained momentum, especially for civilian applications, such as search and rescue, surveying and mapping, and agricultural crops and monitoring. Thanks to their hovering and Vertical Take-Off and Landing (VTOL) capabilities and the capacity to carry out tasks with complete autonomy, they are now a standard platform for both research and industrial uses. However, while the flight control architecture is well established in the literature, there are still many challenges in designing autonomous guidance and navigation systems to make the UAV able to work in constrained and cluttered environments or also indoors. Therefore, the main motivation of this work is to provide a comprehensive and exhaustive literature review on the numerous methods and approaches to address path-planning problems for multi-rotor UAVs. In particular, the inclusion of a review of the related research in the context of Precision Agriculture (PA) provides a unified and accessible presentation for researchers who are initiating their endeavours in this subject.

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A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks

Cited by 14 publications

References 21 publications

An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs

An Application of Stereo Thermal Vision for Preliminary Inspection of Electrical Power Lines by MAVs

Mission Planning and Execution in Heterogeneous Teams of Aerial Robots supporting Power Line Inspection Operations

A survey on the application of path-planning algorithms for multi-rotor UAVs in precision agriculture

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