Zudaire, Sebastián A. (2023) Desarrollo de misiones en vehículos aéreos no Tripulados (VANT) con planning reactivo para aplicaciones agrarias / Mission development in unmanned aerial vehicles (UAV) with reactive planning for rural applications. Tesis Doctoral en Ciencias de la Ingeniería, Universidad Nacional de Cuyo, Instituto Balseiro.
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| PDF (Tesis) Español 25Mb |
Resumen en español
En este trabajo presentamos una interfaz alternativa para la planificación de misiones en vehículos aéreos no tripulados (VANT), basada en la síntesis de controladores de eventos discretos. La síntesis de controladores ha tenido un uso creciente en el ´ultimo tiempo como mecanismo automático para producir planes de misión en sistemas robóticos a partir de especificaciones de alto nivel. Mostramos como diseñamos y construimos una arquitectura de control híbrido que permite modelar el comportamiento del VANT y su entorno, especificar requerimientos de misión en lenguajes lógicos formales, sintetizar controladores que satisfacen estos requerimientos, y luego implementar estos controladores en sistemas VANT reales y simulados. Este marco de planificación que proponemos cuenta con la posibilidad de escalar la cantidad de locaciones discretas muy por encima de otros enfoques, permite predecir y prevenir escenarios de violación de asunciones que podría llevar a fallos en la misión, y adaptar la misión del VANT en vuelo.
Resumen en inglés
In this work we present an alternative interface for mission planning of unmanned aerial vehicle (UAV) applications, based on discrete event controller synthesis. Recently, controller synthesis has had a great growth in popularity as a means for the automatic generation of mission plans for robot systems from high level specifications. We show how we designed and built a hybrid control architecture that allows modelling of the UAV and its environment, specifying mission requirements in formal logic languages, synthesising controllers that satisfy these requirements, and implementing these controllers in real and simulated UAV systems. The planning framework we propose supports scaling the number of discrete locations well above other approaches, prediction and prevention of assumption violation scenarios that could lead to mission failure, and in-flight mission adaptation.
| Tipo de objeto: | Tesis (Tesis Doctoral en Ciencias de la Ingeniería) |
|---|---|
| Palabras Clave: | Unmanned aerial vehicles; Vehículo aéreo no tripulado; [Controller synthesis; Síntesis de control; Temporal planning; Planificación temporal; Hybrid control;Control híbrido; Assured adaptation; Adaptación segura; Runtime verification; Verificación en tiempo de ejecución] |
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| Materias: | Ingeniería mecánica > Robótica |
| Divisiones: | Gcia. de área de Investigación y aplicaciones no nucleares > Gcia. de Física > Sistemas complejos y altas energías > Física estadística interdisciplinaria |
| Código ID: | 1215 |
| Depositado Por: | Tamara Cárcamo |
| Depositado En: | 07 Sep 2023 12:47 |
| Última Modificación: | 07 Sep 2023 12:47 |
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