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Deterministic Decision Making

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Planning and Decision Making for Aerial Robots

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 71))

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Abstract

Decision Making is mission level autonomy and intelligence: Given an agent that can fly and sense its environment, the considered task is to plan intelligent motions and take decisions when required. If one has perfect information of the environmental conditions that will be encountered, a safe path can be constructed. Symbolic planning methods such as hybrid automaton and linear temporal logic are first presented. Symbolic motion planning is the problem of automatic construction of robot control strategies from task specifications given in high level human like language. Some computational intelligence approaches follow such as neural networks, evolution algorithms, decision tables and fuzzy systems. Intelligent decision making, the discipline where planning algorithms are developed by emulating certain characteristics of intelligent biological system is an emerging area of planning. One important application in aerial robotics being the choice of the way points, some operations research methods, such as traveling salesman problem, chinese postman problem and rural postman problem are presented. They enable to formulate and solve such flight planning problems. Finally, some case studies are discussed. The first one concerns surveillance mission using neural networks as function approximation tools to improve computational efficiency of a direct trajectory optimization. The second one proposes a flight route planning technique for autonomous navigation of an aerial robot based on the combination of evolutionary algorithms and virtual potential fields. The third application concerns bridge monitoring. The aerial robot is required to take photos of thousands of points located on an bridge. So the problem of choosing adequate subsets of waypoints appear while the environmental constraints must be verified, the proposed solution uses operational research techniques. The final case is soaring flight for an airplane like robot, as appropriate flight techniques are expected to allow extraction of energy from the atmosphere.

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  1. UFR Sciences and Technologies, Université d’Evry Val-D’Essone, Evry, Essonne, France

    Yasmina Bestaoui Sebbane

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Bestaoui Sebbane, Y. (2014). Deterministic Decision Making. In: Planning and Decision Making for Aerial Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 71. Springer, Cham. https://doi.org/10.1007/978-3-319-03707-3_3

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