Applied Intelligence

, Volume 42, Issue 1, pp 49–62 | Cite as

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

  • Jonathan Cacace
  • Alberto Finzi
  • Vincenzo Lippiello
  • Giuseppe Loianno
  • Dario Sanzone
Article

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

Unmanned air vehicles Planning systems Autonomous robots Aerial service robotics 

Notes

Acknowledgments

The research leading to these results has been supported by the SHERPA and ARCAS collaborative projects, which have received funding from the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreements ICT-600958 and ICT-287617, respectively. The authors are solely responsible for its content. It does not represent the opinion of the European Community and the Community is not responsible for any use that might be made of the information contained therein.

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Copyright information

© Springer Science+Business Media New York 2014

Authors and Affiliations

  • Jonathan Cacace
    • 1
  • Alberto Finzi
    • 1
  • Vincenzo Lippiello
    • 1
  • Giuseppe Loianno
    • 1
  • Dario Sanzone
    • 1
  1. 1.DIETIUniversità degli Studi di Napoli Federico IINaplesItaly

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