| Field |
Value |
Language |
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dc.contributor.author |
Nguyen, LV |
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|
dc.contributor.author |
Le, TH |
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|
dc.contributor.author |
Torres Herrera, I |
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|
dc.contributor.author |
Kwok, NM |
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|
dc.contributor.author |
Ha, QP |
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dc.date.accessioned |
2024-08-14T06:12:10Z |
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dc.date.available |
2024-08-14T06:12:10Z |
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dc.date.issued |
2024-12 |
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dc.identifier.citation |
Construction Robotics, 2024, 8, (2) |
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dc.identifier.issn |
2509-811X |
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dc.identifier.issn |
2509-8780 |
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|
dc.identifier.uri |
http://hdl.handle.net/10453/180410
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dc.description.abstract |
<jats:title>Abstract</jats:title><jats:p>This paper presents the development of algorithms for high-level control and intelligent path planning of multi-rotor aerial vehicles (MAVs) in the tasks of inspecting civil infrastructure. After revisiting the multicopter modeling, we describe the hierarchy of high-level control for MAVs and develop optimization algorithms for generating optimal paths and enabling automatic flight during inspection tasks, making use of the digital twin technology. A co-simulation framework is then established to simulate and evaluate inspection mission scenarios, integrating these essential components. Real-world examples from built infrastructure illustrate this concept. An advantage of this approach is its ability to rigorously test, validate, verify, and evaluate MAV operations under abnormal conditions without requiring physical implementation or field tests. This significantly reduces testing efforts throughout the development cycle, ensuring optimal cooperation, safety, smoothness, fault tolerance, and energy efficiency. The methodology is validated through simulations and real-world inspection of a monorail bridge.</jats:p> |
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dc.language |
en |
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dc.publisher |
Springer Science and Business Media LLC |
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dc.relation.ispartof |
Construction Robotics |
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dc.relation.isbasedon |
10.1007/s41693-024-00135-9 |
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dc.rights |
info:eu-repo/semantics/openAccess |
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dc.subject.classification |
3302 Building |
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dc.subject.classification |
4007 Control engineering, mechatronics and robotics |
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dc.title |
Intelligent path planning for civil infrastructure inspection with multi-rotor aerial vehicles |
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dc.type |
Journal Article |
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utslib.citation.volume |
8 |
|
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pubs.organisational-group |
University of Technology Sydney |
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pubs.organisational-group |
University of Technology Sydney/Faculty of Engineering and Information Technology |
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pubs.organisational-group |
University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure |
|
|
pubs.organisational-group |
University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering |
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utslib.copyright.status |
open_access |
* |
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dc.rights.license |
This work is licensed under a Creative Commons Attribution 4.0 International License (CC BY 4.0). To view a copy of this license, visit https://creativecommons.org/licenses/by/4.0/ |
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dc.date.updated |
2024-08-14T06:11:58Z |
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pubs.issue |
2 |
|
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pubs.publication-status |
Published online |
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pubs.volume |
8 |
|
|
utslib.citation.issue |
2 |
|
