Abstract
This paper addresses a persistent vehicle routing problem, where a team of vehicles is required to achieve a task repetitively. The task is given as a Time-Window Temporal Logic (TWTL) formula defined over the environment. The fuel consumption of each vehicle is explicitly captured as a stochastic model. As vehicles leave the mission area for refueling, the number of vehicles may not always be sufficient to achieve the task. We propose a decoupled and efficient control policy to achieve the task or its minimal relaxation. We quantify the temporal relaxation of a TWTL formula and present an algorithm to minimize it. The proposed policy has two layers: 1) each vehicle decides when to refuel based on its remaining fuel, 2) a central authority plans the joint trajectories of the available vehicles to achieve a minimally relaxed task. We demonstrate the proposed approach via simulations and experiments involving a team of quadrotors that conduct persistent surveillance.
Original language | English (US) |
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Title of host publication | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 3141-3146 |
Number of pages | 6 |
ISBN (Electronic) | 9781467380263 |
DOIs | |
State | Published - Jun 8 2016 |
Externally published | Yes |
Event | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden Duration: May 16 2016 → May 21 2016 |
Publication series
Name | Proceedings - IEEE International Conference on Robotics and Automation |
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Volume | 2016-June |
ISSN (Print) | 1050-4729 |
Other
Other | 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 |
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Country/Territory | Sweden |
City | Stockholm |
Period | 5/16/16 → 5/21/16 |
Bibliographical note
Publisher Copyright:© 2016 IEEE.