Aerial service vehicles for industrial inspection: task decomposition and plan execution

Jonathan Cacace, Alberto Finzi, Vincenzo Lippiello, Giuseppe Loianno, Dario Sanzone

Research output: Contribution to journalArticle

Abstract

This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.

Original languageEnglish (US)
Pages (from-to)49-62
Number of pages14
JournalApplied Intelligence
Volume42
Issue number1
DOIs
StatePublished - Jan 1 2014

Fingerprint

Level control
Inspection
Antennas
Decomposition
Monitoring
Motion planning
Control systems
Planning

Keywords

  • Aerial service robotics
  • Autonomous robots
  • Planning systems
  • Unmanned air vehicles

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Aerial service vehicles for industrial inspection : task decomposition and plan execution. / Cacace, Jonathan; Finzi, Alberto; Lippiello, Vincenzo; Loianno, Giuseppe; Sanzone, Dario.

In: Applied Intelligence, Vol. 42, No. 1, 01.01.2014, p. 49-62.

Research output: Contribution to journalArticle

Cacace, Jonathan ; Finzi, Alberto ; Lippiello, Vincenzo ; Loianno, Giuseppe ; Sanzone, Dario. / Aerial service vehicles for industrial inspection : task decomposition and plan execution. In: Applied Intelligence. 2014 ; Vol. 42, No. 1. pp. 49-62.
@article{8337b7fe29c14a0192cad79d04991ef9,
title = "Aerial service vehicles for industrial inspection: task decomposition and plan execution",
abstract = "This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.",
keywords = "Aerial service robotics, Autonomous robots, Planning systems, Unmanned air vehicles",
author = "Jonathan Cacace and Alberto Finzi and Vincenzo Lippiello and Giuseppe Loianno and Dario Sanzone",
year = "2014",
month = "1",
day = "1",
doi = "10.1007/s10489-014-0542-0",
language = "English (US)",
volume = "42",
pages = "49--62",
journal = "Applied Intelligence",
issn = "0924-669X",
publisher = "Springer Netherlands",
number = "1",

}

TY - JOUR

T1 - Aerial service vehicles for industrial inspection

T2 - task decomposition and plan execution

AU - Cacace, Jonathan

AU - Finzi, Alberto

AU - Lippiello, Vincenzo

AU - Loianno, Giuseppe

AU - Sanzone, Dario

PY - 2014/1/1

Y1 - 2014/1/1

N2 - This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.

AB - This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.

KW - Aerial service robotics

KW - Autonomous robots

KW - Planning systems

KW - Unmanned air vehicles

UR - http://www.scopus.com/inward/record.url?scp=84920709165&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84920709165&partnerID=8YFLogxK

U2 - 10.1007/s10489-014-0542-0

DO - 10.1007/s10489-014-0542-0

M3 - Article

AN - SCOPUS:84920709165

VL - 42

SP - 49

EP - 62

JO - Applied Intelligence

JF - Applied Intelligence

SN - 0924-669X

IS - 1

ER -