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Published in: Autonomous Robots 8/2016

05-11-2015

Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints

Published in: Autonomous Robots | Issue 8/2016

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Abstract

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 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 for two different missions over 50 runs each to validate the theoretical results.

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Appendix
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Metadata
Title
Persistent surveillance for unmanned aerial vehicles subject to charging and temporal logic constraints
Publication date
05-11-2015
Published in
Autonomous Robots / Issue 8/2016
Print ISSN: 0929-5593
Electronic ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-015-9519-z

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