Energy-aware planning-scheduling for autonomous aerial robots

Adam Seewald*, H.G. de Marina, Henrik Skov Midtiby, Ulrik Pagh Schultz Lundquist

*Kontaktforfatter

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Abstract

In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a novel variable coverage motion robust to air-borne constraints and an empirically motivated energy model. The model includes the energy contribution of the schedule based on an automatic computational energy modeling tool. Our experiments show how an initial flight plan is adjusted online as a function of the available battery, accounting for uncertainty. Our approach remedies possible in-flight failure in case of unexpected battery drops, e.g., due to adverse atmospheric conditions, and increases the overall fault tolerance
OriginalsprogEngelsk
TitelProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22)
ForlagIEEE
Publikationsdato23. okt. 2022
Sider2946 - 2953
ISBN (Elektronisk)978-1-6654-7927-1
DOI
StatusUdgivet - 23. okt. 2022
Begivenhed2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Late Breaking Results Poster - Kyoto, Japan
Varighed: 23. okt. 202227. okt. 2022

Konference

Konference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Land/OmrådeJapan
ByKyoto
Periode23/10/202227/10/2022
NavnI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

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