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Cooperative UAV–UGV autonomous power pylon inspection: an investigation of cooperative outdoor vehicle positioning architecture

2020Journal article Open access
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dc.contributor.authorCantieri, Álvaro R.
dc.contributor.authorFerraz, Matheus
dc.contributor.authorSzekir, Guido
dc.contributor.authorTeixeira, Marco António
dc.contributor.authorLima, José
dc.contributor.authorOliveira, Andre Schneider
dc.contributor.authorWehrmeister, Marco Aurelio
dc.date.accessioned2022-01-12T15:02:38Z
dc.date.available2022-01-12T15:02:38Z
dc.date.issued2020
dc.description.abstractRealizing autonomous inspection, such as that of power distribution lines, through unmanned aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy and safety of the operation; however, many technical problems, such as those pertaining to the precise positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed strategy, each vehicle provides its position information to the other, which ensures a safe inspection process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating the feasibility of the proposed approach.pt_PT
dc.description.sponsorshipThis research was funded by National Counsel of Technological and Scientific Development of Brazil (CNPq). The authors thank the National Counsel of Technological and Scientific Development of Brazil (CNPq); Coordination for the Improvement of Higher Level People (CAPES); and the Brazilian Ministry of Science, Technology, Innovation, and Communication (MCTIC). The authors would also like express their deepest gratitude to Control Robotics for sharing the Pioneer P3 robot for the experiments. Thanks to Leticia Cantieri for editing the experiment video.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.citationCantieri, Alvaro; Ferraz, Matheus; Szekir, Guido; Teixeira, Marco Antônio; Lima, José; Oliveira, André Schneider; Wehrmeister, Marco Aurélio (2020). Cooperative UAV–UGV autonomous power pylon inspection: an investigation of cooperative outdoor vehicle positioning architecture. Sensors. ISSN 1424-8220. 20:21, p. 1-22pt_PT
dc.identifier.doi10.3390/s20216384pt_PT
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/10198/24587
dc.language.isoengpt_PT
dc.peerreviewedyespt_PT
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/pt_PT
dc.subjectCooperative UAV–UGV energy pylon inspectionpt_PT
dc.subjectCooperative vehicle position sensingpt_PT
dc.subjectAutonomous power line inspectionpt_PT
dc.titleCooperative UAV–UGV autonomous power pylon inspection: an investigation of cooperative outdoor vehicle positioning architecturept_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.issue21pt_PT
oaire.citation.startPage6384pt_PT
oaire.citation.titleSensorspt_PT
oaire.citation.volume20pt_PT
person.familyNameLima
person.givenNameJosé
person.identifierR-000-8GD
person.identifier.ciencia-id6016-C902-86A9
person.identifier.orcid0000-0001-7902-1207
person.identifier.ridL-3370-2014
person.identifier.scopus-author-id55851941311
rcaap.rightsopenAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationd88c2b2a-efc2-48ef-b1fd-1145475e0055
relation.isAuthorOfPublication.latestForDiscoveryd88c2b2a-efc2-48ef-b1fd-1145475e0055

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