Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture

Cantieri, Álvaro Rogério; Ferraz, Matheus; Szekir, Guido; Teixeira, Marco Antônio; Lima, José; Oliveira, André Schneider de; Wehrmeister, Marco A.

doi:10.3390/s20216384

Cited by 33 publications

(22 citation statements)

References 26 publications

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“…Estimation of the relative distance

can be done with a vision sensor [ 23 ] for the indoor environment or RTK-GPS sensor [ 24 ] for the outdoor environment. However, the method [ 23 ] assumed that the vision sensor always watches the plane to compute the homography matrix.…”

Section: Kinematic Parameter Estimation and Path Planningmentioning

confidence: 99%

“…However, the method [ 23 ] assumed that the vision sensor always watches the plane to compute the homography matrix. In the outdoor environment, the position can be measured by RTK-GPS with a few centimeters accuracies [ 24 ], but this system cannot be applied in indoor environments or near buildings. To overcome this issue, this paper proposes the kinematic parameter estimation algorithm only using a state variable itself.…”

Section: Kinematic Parameter Estimation and Path Planningmentioning

confidence: 99%

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Estimation and Control of Cooperative Aerial Manipulators for a Payload with an Arbitrary Center-of-Mass

Lee

Kim

2021

Sensors

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This paper presents an integrated framework that integrates the kinematic and dynamic parameter estimation of an irregular object with non-uniform mass distribution for cooperative aerial manipulators. Unlike existing approaches, including impedance-based control which requires expensive force/torque sensors or the first-order-momentum-based estimator which is weak to noise, this paper suggests a method without such sensor and strong to noise by exploiting the decentralized dynamics and sliding-mode-momentum observer. First, the kinematic estimator estimates the relative distances of multiple aerial manipulators by using translational and angular velocities between aerial robots. By exploiting the distance estimation, the desired trajectories for each aerial manipulator are set. Second, the dynamic parameter estimation is performed for the mass of the common object and the vector between the end-effector frame and the center of mass of the object. Finally, the proposed framework is validated with simulations using aerial manipulators combined with two degrees-of-freedom robotic arms using a noisy measurement. Throughout the simulation, we can decrease the mass estimation error by 60% compared to the existing first-order momentum-based method. In addition, a comparison study shows that the proposed method satisfactorily estimates an arbitrary center-of-mass of an unknown payload in noisy environments.

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“…Estimation of the relative distance

Section: Kinematic Parameter Estimation and Path Planningmentioning

confidence: 99%

Section: Kinematic Parameter Estimation and Path Planningmentioning

confidence: 99%

Estimation and Control of Cooperative Aerial Manipulators for a Payload with an Arbitrary Center-of-Mass

Lee

Kim

2021

Sensors

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“…In [ 31 ], the authors present a cooperative solution with an Unmanned Ground Vehicle (UGV) and a UAV. The purpose of the system is to perform autonomous power lines inspection, by using both vehicle types to enhance the efficiency and efficacy of the operations.…”

Section: Unmanned Vehicles Platformsmentioning

confidence: 99%

Distributed Architecture for Unmanned Vehicle Services

Ramos

Ribeiro

Safadinho

et al. 2021

Sensors

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The demand for online services is increasing. Services that would require a long time to understand, use and master are becoming as transparent as possible to the users, that tend to focus only on the final goals. Combined with the advantages of the unmanned vehicles (UV), from the unmanned factor to the reduced size and costs, we found an opportunity to bring to users a wide variety of services supported by UV, through the Internet of Unmanned Vehicles (IoUV). Current solutions were analyzed and we discussed scalability and genericity as the principal concerns. Then, we proposed a solution that combines several services and UVs, available from anywhere at any time, from a cloud platform. The solution considers a cloud distributed architecture, composed by users, services, vehicles and a platform, interconnected through the Internet. Each vehicle provides to the platform an abstract and generic interface for the essential commands. Therefore, this modular design makes easier the creation of new services and the reuse of the different vehicles. To confirm the feasibility of the solution we implemented a prototype considering a cloud-hosted platform and the integration of custom-built small-sized cars, a custom-built quadcopter, and a commercial Vertical Take-Off and Landing (VTOL) aircraft. To validate the prototype and the vehicles’ remote control, we created several services accessible via a web browser and controlled through a computer keyboard. We tested the solution in a local network, remote networks and mobile networks (i.e., 3G and Long-Term Evolution (LTE)) and proved the benefits of decentralizing the communications into multiple point-to-point links for the remote control. Consequently, the solution can provide scalable UV-based services, with low technical effort, for anyone at anytime and anywhere.

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“…A teleoperated robotic platform called LineScout Technology was introduced in [8], which has the capability to clear most obstacles that were found on the grid; however, the main functions and application modules were limited to the specified platform. Following this line, a method of detecting power grid lines by using the unmanned aerial vehicle (UAV) in the complex environment was presented in [9][10][11]. Furthermore, the inspection operations of flying robots and climbing robots for power stations have also been made preliminary attempts [12], although mobile robots were more widely used in the field of intelligent inspection of power stations of smart microgrids, no matter wheel-type or crawlertype robots.…”

Section: Introductionmentioning

confidence: 99%

Design and Collaborative Operation of Multimobile Inspection Robots in Smart Microgrids

Chen

Wang

2021

Complexity

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This paper investigates the substation inspection problems of multimobile robots for large power stations in smart microgrids. Most multirobot inspection robots generally face the challenge of path planning, while the current widely used biological excitation neural network (BENN) methods often have the defect of the neuronal active field near boundaries and obstacles. To end this, we propose an improved biological excitation neural network (IBENN) method for path planning based on a detailed architecture and ontology framework, through which the single-point inspection, multipoint inspection, and full-area inspection tasks of substations in smart microgrids can be well completed. Simulation results show that the designed IBENN-based multirobot collaboration inspection (MRCI) system can effectively shorten the path as well as the number of turns and then show better performance than most existing results when implementing various substation inspection tasks.

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Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture

Cited by 33 publications

References 26 publications

Estimation and Control of Cooperative Aerial Manipulators for a Payload with an Arbitrary Center-of-Mass

Estimation and Control of Cooperative Aerial Manipulators for a Payload with an Arbitrary Center-of-Mass

Distributed Architecture for Unmanned Vehicle Services

Design and Collaborative Operation of Multimobile Inspection Robots in Smart Microgrids

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