论文标题
自动空中机器人的能源感知计划计划
Energy-Aware Planning-Scheduling for Autonomous Aerial Robots
论文作者
论文摘要
在本文中，我们提出了一种用于电池供电的自动空中机器人的在线计划安排方法。该方法包括同时计划覆盖路径和安排板载计算任务。我们进一步得出了一种新颖的变量覆盖运动，可鲁棒性地限制和凭经验动机的能量模型。该模型包括基于自动计算能量建模工具的时间表的能源贡献。我们的实验表明，如何根据可用电池在线调整初始飞行计划，这是不确定性的原因。在电池意外情况下，由于不利的大气条件，我们的方法疗法可能在飞行中故障，并增加了整体容错的耐受性。
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 airborne 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.
