Autonomous and scalable control for remote inspection with multiple aerial vehicles

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

A novel approach to the autonomous generation of trajectories for multiple aerial vehicles is presented, whereby an artificial kinematic field provides autonomous control in a distributed and highly scalable manner. The kinematic field is generated relative to a central target and is modified when a vehicle is in close proximity of another to avoid collisions. This control scheme is then applied to the mock visual inspection of a nuclear intermediate level waste storage drum. The inspection is completed using two commercially available quadcopters, in a laboratory environment, with the acquired visual inspection data processed and photogrammetrically meshed to generate a three-dimensional surface-meshed model of the drum. This paper contributes to the field of multi-agent coverage path planning for structural inspection and provides experimental validation of the control and inspection results.
LanguageEnglish
Pages258-268
Number of pages21
JournalRobotics and Autonomous Systems
Volume87
Early online date21 Oct 2016
DOIs
Publication statusPublished - 24 Nov 2016

Fingerprint

Inspection
Antennas
Kinematics
Experimental Validation
Path Planning
Motion planning
Proximity
Coverage
Collision
Trajectories
Trajectory
Three-dimensional
Target
Vision
Model

Keywords

  • artificial kinematic field
  • automatic optical inspection
  • photogrammetry
  • swarm
  • unmanned aerial vehicle control

Cite this

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title = "Autonomous and scalable control for remote inspection with multiple aerial vehicles",
abstract = "A novel approach to the autonomous generation of trajectories for multiple aerial vehicles is presented, whereby an artificial kinematic field provides autonomous control in a distributed and highly scalable manner. The kinematic field is generated relative to a central target and is modified when a vehicle is in close proximity of another to avoid collisions. This control scheme is then applied to the mock visual inspection of a nuclear intermediate level waste storage drum. The inspection is completed using two commercially available quadcopters, in a laboratory environment, with the acquired visual inspection data processed and photogrammetrically meshed to generate a three-dimensional surface-meshed model of the drum. This paper contributes to the field of multi-agent coverage path planning for structural inspection and provides experimental validation of the control and inspection results.",
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author = "Clark, {Ruaridh A.} and Giuliano Punzo and MacLeod, {Charles N.} and Gordon Dobie and Rahul Summan and Gary Bolton and Pierce, {Stephen G.} and Malcolm Macdonald",
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Autonomous and scalable control for remote inspection with multiple aerial vehicles. / Clark, Ruaridh A.; Punzo, Giuliano; MacLeod, Charles N.; Dobie, Gordon; Summan, Rahul; Bolton , Gary; Pierce, Stephen G.; Macdonald, Malcolm.

In: Robotics and Autonomous Systems, Vol. 87, 24.11.2016, p. 258-268.

Research output: Contribution to journalArticle

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AU - Clark, Ruaridh A.

AU - Punzo, Giuliano

AU - MacLeod, Charles N.

AU - Dobie, Gordon

AU - Summan, Rahul

AU - Bolton , Gary

AU - Pierce, Stephen G.

AU - Macdonald, Malcolm

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