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Iterative Decentralized Planning for Collective Construction Tasks with Quadrotors

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Abstract

This paper describes an iterative decentralized planning and learning method, based on stochastic learning automata theory and heuristic search techniques, to generate construction and motion strategies to build different types of three-dimensional structures using multiple quadrotors. This architecture is proposed to simultaneously solve three main problems: 1) the iterative generation of feasible construction and motion plans for each quadrotor; 2) the optimization with constraints on power and assembly while taking into account the dynamic nature of the environment, and 3) the planning of the translational speeds and selection of breakpoints for each vehicle. The quadrotors learn the optimal action policy to construct the structures while avoiding collisions during the loading and unloading procedures. In order to demonstrate the generality of the solution, simulated trials of the proposed autonomous construction system are presented where different three-dimensional structures are built.

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Authors and Affiliations

  1. Department of Science and Technology, Federal University of São Paulo (UNIFESP), São José dos Campos, SP, Brazil

    Sérgio R. Barros dos Santos

  2. Department of Electrical and Computer Engineering, Royal Military College of Canada, Kingston, ON, Canada

    Sidney Givigi

  3. Division of Electronic Engineering, Instituto Tecnologico de Aeronautica (ITA), São José dos Campos, SP, Brazil

    Cairo L. Nascimento Jr.

  4. Universidade Federal do Paraná (UFPR), Curitiba, PR, Brazil

    Jose M. Fernandes

  5. Federal University of Maranhão, São Luís, MA, Brazil

    Luciano Buonocore & Areolino de Almeida Neto

Authors
  1. Sérgio R. Barros dos Santos
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  2. Sidney Givigi
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  3. Cairo L. Nascimento Jr.
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  4. Jose M. Fernandes
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  5. Luciano Buonocore
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  6. Areolino de Almeida Neto
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Correspondence to Sidney Givigi.

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Barros dos Santos, S.R., Givigi, S., Nascimento, C.L. et al. Iterative Decentralized Planning for Collective Construction Tasks with Quadrotors. J Intell Robot Syst 90, 217–234 (2018). https://doi.org/10.1007/s10846-017-0659-6

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  • DOI: https://doi.org/10.1007/s10846-017-0659-6

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