Advertisement

Provably Correct Persistent Surveillance for Unmanned Aerial Vehicles Subject to Charging Constraints

  • Kevin Leahy
  • Dingjiang Zhou
  • Cristian-Ioan Vasile
  • Konstantinos Oikonomopoulos
  • Mac Schwager
  • Calin Belta
Chapter
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)

Abstract

In this work, we present a novel method for automating persistent surveillance missions involving multiple vehicles. Automata-based techniques were used to generate collision-free motion plans for a team of vehicles to satisfy a temporal logic specification. Vector fields were 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 over 50 runs to validate the theoretical results.

Keywords

Persistent monitoring Multi-robot systems Aerial robotics Formal methods 

Notes

Acknowledgments

This work was supported in part by NSF grant number CNS-1035588, and ONR grant numbers N00014-12-1-1000, MURI N00014-10-10952 and MURI N00014-09-1051. The authors are grateful for this support.

References

  1. 1.
    Dantzig, G.B., Ramser, J.H.: The truck dispatching problem. Manag. Sci. 6(1), 80–91 (1959)MathSciNetCrossRefzbMATHGoogle Scholar
  2. 2.
    Toth, P., Vigo, D.: The Vehicle Routing Problem. SIAM (2001)Google Scholar
  3. 3.
    Michael, N., Stump, E., Mohta, K.: Persistent surveillance with a team of mavs. In: Proceedings of the International Conference on Intelligent Robots and Systems (IROS 11), pp. 2708–2714. IEEE (2011 )Google Scholar
  4. 4.
    Stump, E., Michael, N.: Multi-robot persistent surveillance planning as a vehicle routing problem. In: Proceedings of the IEEE Conference on Automation Science and Engineering (CASE), pp. 569–575. IEEE (2011)Google Scholar
  5. 5.
    Baier, C., Katoen, J.-P.: Principles of Model Checking. MIT Press (2008)Google Scholar
  6. 6.
    Smith, S., Tumova, J., Belta, C., Rus, D.: Optimal path planning for surveillance with temporal logic constraints. Int. J. Robot. Res. 30(14), 1695–1708 (2011)CrossRefGoogle Scholar
  7. 7.
    Ulusoy, A., Smith, S.L., Ding, X.C., Belta, C., Rus, D.: Optimality and robustness in multi-robot path planning with temporal logic constraints. Int. J. Robot. Res. 32(8), 889–911 (2013)CrossRefGoogle Scholar
  8. 8.
    Sundar, K., Rathinam, S.: Algorithms for routing an unmanned aerial vehicle in the presence of refueling depots. IEEE Trans. Autom. Sci. Eng. 11(1), 287–294 (2014)CrossRefGoogle Scholar
  9. 9.
    Mulgaonkar, Y., Kumar, V.: Autonomous charging to enable long-endurance missions for small aerial robots. Proc. SPIE-DSS 9083(64) (2014)Google Scholar
  10. 10.
    Karaman, S., Frazzoli, E.: Vehicle routing problem with metric temporal logic specifications. In: IEEE Conference on Decision and Control, pp. 3953–3958 (2008)Google Scholar
  11. 11.
    Vasile, C., Belta, C.: An automata-theoretic approach to the vehicle routing problem. In: Robotics: Science and Systems Conference (RSS), Berkeley (2014)Google Scholar
  12. 12.
    Zhou, D., Schwager, M.: Vector field following for quadrotors using differential flatness. In: Proceedings of the International Conference on Robotics and Automation (ICRA) (2014)Google Scholar
  13. 13.
    Jha, S., Clarke, E., Langmead, C., Legay, A., Platzer, A., Zuliani, P.: A bayesian approach to model checking biological systems. In: Proceedings of the 7th International Conference on Computational Methods in Systems Biology, CMSB ’09, pp. 218–234. Springer, Berlin (2009)Google Scholar
  14. 14.
    Tkachev, I., Abate, A.: Formula-free finite abstractions for linear temporal verification of stochastic hybrid systems. In: Proceedings of the 16th International Conference on Hybrid Systems: Computation and Control, Philadelphia (2013)Google Scholar
  15. 15.
    Kupferman, O., Vardi, M.: Model checking of safety properties. Form. Methods Syst. Des. 19(3), 291–314 (2001)CrossRefzbMATHGoogle Scholar
  16. 16.
    Latvala, T.: Effcient model checking of safety properties. In: 10th International SPIN Workshop, Model Checking Software, pp. 74–88. Springer (2003)Google Scholar
  17. 17.
    Belta, C., Habets, L.C.G.J.M.: Controlling a class of nonlinear systems on rectangles. IEEE Trans. Autom. Control 51(11), 1749–1759 (2006)Google Scholar
  18. 18.
    Aydin Gol, E., Belta, C.: Time-constrained temporal logic control of multi-affine systems. Nonlinear Anal. Hybrid Syst. 10, 21–33 (2013)MathSciNetCrossRefzbMATHGoogle Scholar
  19. 19.
    Mellinger, D., Kumar, V.: Minimum snap trajectory generation and control for quadrotors. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 2520–2525. IEEE (2011)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Kevin Leahy
    • 1
  • Dingjiang Zhou
    • 1
  • Cristian-Ioan Vasile
    • 1
  • Konstantinos Oikonomopoulos
    • 1
  • Mac Schwager
    • 1
  • Calin Belta
    • 1
  1. 1.Boston UniversityBostonUSA

Personalised recommendations