Authors: Kevin Leahy Dingjiang Zhou CristianIoan Vasile Konstantinos Oikonomopoulos Mac Schwager Calin Belta
Publish Date: 2015/11/05
Volume: 40, Issue: 8, Pages: 1363-1378
Abstract
In this work we present a novel method for automating persistent surveillance missions involving multiple vehicles Automatabased techniques are used to generate collisionfree motion plans for a team of vehicles to satisfy a temporal logic specification Vector fields are created for use with a differential flatnessbased controller allowing vehicle flight and deployment to be fully automated according to the motion plans The use of charging platforms with the vehicles allows for truly persistent missions Experiments were performed with two quadrotors for two different missions over 50 runs each to validate the theoretical results
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