Plánování mise více autonomních helikoptér pro kooperativní stavbu zdi

Abstract

This thesis aims to solve the task of high level motion planning for a group of unmanned aerial vehicles (UAVs). UAVs are tasked to build a pre-defined wall structure using different types of brick shaped objects. The main focus of this work is to solve the problem of efficient and successful wall construction. The goal is to find the best sequence which defines the order in which the bricks will be placed while building the wall. A mission planner provides the hierarchically ordered states, representing the actions that the UAV is supposed to do. For a successful cooperation of the UAVs, it is important to have a proper communication. Communication can be established by WiFi, but even if the communication channel cannot be established, the approach of time windows is proposed.This thesis contributes to a solution to a task in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), that will be organized in 2020. The developed system is tested in Gazebo simulator, but part of the thesis is tested on a real UAV setup in an actual real word environment.

This thesis aims to solve the task of high level motion planning for a group of unmanned aerial vehicles (UAVs). UAVs are tasked to build a pre-defined wall structure using different types of brick shaped objects. The main focus of this work is to solve the problem of efficient and successful wall construction. The goal is to find the best sequence which defines the order in which the bricks will be placed while building the wall. A mission planner provides the hierarchically ordered states, representing the actions that the UAV is supposed to do. For a successful cooperation of the UAVs, it is important to have a proper communication. Communication can be established by WiFi, but even if the communication channel cannot be established, the approach of time windows is proposed.This thesis contributes to a solution to a task in the Mohamed Bin Zayed International Robotics Challenge (MBZIRC), that will be organized in 2020. The developed system is tested in Gazebo simulator, but part of the thesis is tested on a real UAV setup in an actual real word environment.