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Online Task Planning and Control for Aerial Robots with Fuel Constraints in Winds

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Algorithmic Foundations of Robotics XI

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 107))

Abstract

Real-world applications of aerial robots must consider operational constraints such as fuel level during task planning . This paper presents an algorithm for automatically synthesizing a continuous non-linear flight controller given a complex temporal logic task specification that can include contingency planning rules. Our method is a hybrid controller where fuel level is treated continuously in the low-level and symbolically in the high-level. The low-level controller assumes the availability of a set of point-estimates of wind velocity and builds a continuous interpolation using Gaussian process regression. Fuel burn and aircraft dynamics are modelled under physically realistic assumptions. Our algorithm is efficient and we show empirically that it is feasible for online execution and replanning. We present simulation examples of navigation in a wind field and surveillance with fuel constraints.

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Authors and Affiliations

  1. Australian Centre for Field Robotics, The University of Sydney, Sydney, Australia

    Chanyeol Yoo, Robert Fitch & Salah Sukkarieh

Authors
  1. Chanyeol Yoo
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  2. Robert Fitch
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  3. Salah Sukkarieh
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Corresponding author

Correspondence to Chanyeol Yoo .

Editor information

Editors and Affiliations

  1. Department of Computer Engineering, Bogazici University, Istanbul, Turkey

    H. Levent Akin

  2. Department of Computer Science and Engineering, Texas A&M University, College Station, Texas, USA

    Nancy M. Amato

  3. Department of Computer Science and Engineering, University of Minnesota, Minneapolis, Minnesota, USA

    Volkan Isler

  4. Department of Information and Computing Sciences, Utrecht University, Utrecht, Utrecht, The Netherlands

    A. Frank van der Stappen

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Yoo, C., Fitch, R., Sukkarieh, S. (2015). Online Task Planning and Control for Aerial Robots with Fuel Constraints in Winds. In: Akin, H., Amato, N., Isler, V., van der Stappen, A. (eds) Algorithmic Foundations of Robotics XI. Springer Tracts in Advanced Robotics, vol 107. Springer, Cham. https://doi.org/10.1007/978-3-319-16595-0_41

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  • DOI: https://doi.org/10.1007/978-3-319-16595-0_41

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-16594-3

  • Online ISBN: 978-3-319-16595-0

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