2021/03/04 by Giuseppe Silano, Davide Liuzza, Silano, Giuseppe +5
Computer Science · Engineering · #AI-based Problem Solving and Planning #FOS: Computer and information sciences #Power Line Inspection Robots #Robotic Path Planning Algorithms #Robotics (cs.RO) #Robotics and Sensor-Based Localization #cs.RO
paper · pdf · doi:10.48550/arxiv.2103.02999
2 pages, extended abstract submitted to AUTOMATICA.IT 2020 workshop (https://www.automatica2020.it/index.php/en/welcome-to-automatica-it-2020/)
arxiv created 2021/03/04 · openalex publication_date 2021/03/04 · arxiv updated 2021/03/05 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
Inspection of power line infrastructures must be periodically conducted by electric companies in order to ensure reliable electric power distribution. Research efforts are focused on automating the power line inspection process by looking for strategies that satisfy different requirements expressed in terms of potential damage and faults detection. This problem comes up with the need of safe planning and control techniques for autonomous robots to perform visual inspection tasks. Such an application becomes even more interesting and of critical importance when considering a multi-robot extension. In this paper, we propose to compute feasible and constrained trajectories for a fleet of quad-rotors leveraging on Signal Temporal Logic (STL) specifications. The planner allows to formulate rather complex missions avoiding obstacles and forbidden areas along the path. Simulations results achieved in MATLAB show the effectiveness of the proposed approach leading the way to experimental tests on the hardware.