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Aerial service vehicles for industrial inspection: task decomposition and plan execution

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Abstract

This work proposes a high-level control system designed for an Aerial Service Vehicle capable of performing complex tasks in close and physical interaction with the environment in an autonomous manner. We designed a hybrid control architecture which integrates task, path, motion planning/replanning, and execution monitoring. The high-level system relies on a continuous monitoring and planning cycle to suitably react to events, user interventions, and failures, communicating with the low level control layers. The system has been assessed on real-world and simulated scenarios representing an industrial environment.

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Acknowledgments

The research leading to these results has been supported by the SHERPA and ARCAS collaborative projects, which have received funding from the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreements ICT-600958 and ICT-287617, respectively. The authors are solely responsible for its content. It does not represent the opinion of the European Community and the Community is not responsible for any use that might be made of the information contained therein.

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Authors and Affiliations

  1. DIETI, Università degli Studi di Napoli Federico II, via Claudio 21, 80125, Naples, Italy

    Jonathan Cacace, Alberto Finzi, Vincenzo Lippiello, Giuseppe Loianno & Dario Sanzone

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  1. Jonathan Cacace
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  2. Alberto Finzi
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  3. Vincenzo Lippiello
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  4. Giuseppe Loianno
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  5. Dario Sanzone
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Correspondence to Alberto Finzi.

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Cacace, J., Finzi, A., Lippiello, V. et al. Aerial service vehicles for industrial inspection: task decomposition and plan execution. Appl Intell 42, 49–62 (2015). https://doi.org/10.1007/s10489-014-0542-0

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  • DOI: https://doi.org/10.1007/s10489-014-0542-0

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