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
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 109)


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.


Persistent monitoring Multi-robot systems Aerial robotics Formal methods 



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.


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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

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