Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints
نویسندگان
چکیده
In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-freemotionplans for a teamof vehicles to satisfy a temporal logic specification.Vector fieldswere created for usewith a differential flatness-based controller, allowing vehicle flight and deployment to be fully automated according to the motion plans. The use of charging platforms with the vehicles allows for truly persistent missions. Experiments were performed with two quadrotors over 50 runs to validate the theoretical results.
منابع مشابه
Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints
In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques are used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic specification. Vector fields are created for use with a differential flatness-based controller, allowing vehicle flight and deployment to be fully automat...
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