Energy-aware planning-scheduling for autonomous aerial robots

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

doi:10.1109/IROS47612.2022.9981285

Energy-aware planning-scheduling for autonomous aerial robots

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

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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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

Original language	English
Title of host publication	Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22)
Publisher	IEEE
Publication date	23. Oct 2022
Pages	2946 - 2953
ISBN (Electronic)	978-1-6654-7927-1
DOIs	https://doi.org/10.1109/IROS47612.2022.9981285
Publication status	Published - 23. Oct 2022
Event	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Kyoto, Japan Duration: 23. Oct 2022 → 27. Oct 2022

Conference

Conference	2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Country/Territory	Japan
City	Kyoto
Period	23/10/2022 → 27/10/2022

Series	I E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN	2153-0858

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10.1109/IROS47612.2022.9981285

Open Access VersionFinal published version, 445 KBLicence: CC BY-SA

https://arxiv.org/pdf/2207.11056Licence: CC BY-SA

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Seewald, A., de Marina, H. G., Midtiby, H. S., & Lundquist, U. P. S. (2022). Energy-aware planning-scheduling for autonomous aerial robots. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22) (pp. 2946 - 2953). IEEE. I E E E International Conference on Intelligent Robots and Systems. Proceedings https://doi.org/10.1109/IROS47612.2022.9981285

@inproceedings{09447dbc82f24db0826158f17ed072eb,

title = "Energy-aware planning-scheduling for autonomous aerial robots",

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",

author = "Adam Seewald and {de Marina}, H.G. and Midtiby, {Henrik Skov} and Lundquist, {Ulrik Pagh Schultz}",

year = "2022",

month = oct,

day = "23",

doi = "10.1109/IROS47612.2022.9981285",

language = "English",

series = "I E E E International Conference on Intelligent Robots and Systems. Proceedings",

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pages = "2946 -- 2953",

booktitle = "Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22)",

address = "United States",

note = "2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) ; Conference date: 23-10-2022 Through 27-10-2022",

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Seewald, A, de Marina, HG, Midtiby, HS & Lundquist, UPS 2022, Energy-aware planning-scheduling for autonomous aerial robots. in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22). IEEE, I E E E International Conference on Intelligent Robots and Systems. Proceedings, pp. 2946 - 2953, 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23/10/2022. https://doi.org/10.1109/IROS47612.2022.9981285

Energy-aware planning-scheduling for autonomous aerial robots. / Seewald, Adam; de Marina, H.G.; Midtiby, Henrik Skov et al.

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22). IEEE, 2022. p. 2946 - 2953 (I E E E International Conference on Intelligent Robots and Systems. Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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T1 - Energy-aware planning-scheduling for autonomous aerial robots

AU - Seewald, Adam

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AU - Midtiby, Henrik Skov

AU - Lundquist, Ulrik Pagh Schultz

PY - 2022/10/23

Y1 - 2022/10/23

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AB - 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

U2 - 10.1109/IROS47612.2022.9981285

DO - 10.1109/IROS47612.2022.9981285

M3 - Article in proceedings

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BT - Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'22)

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T2 - 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Y2 - 23 October 2022 through 27 October 2022

ER -

Energy-aware planning-scheduling for autonomous aerial robots

Abstract

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