@article{pecker-marcosig_correct_2023,

title = {Correct and efficient UAV missions based on temporal planning and in-flight hybrid simulations},

author = {Ezequiel Pecker-Marcosig and Sebastián Zudaire and Rodrigo Castro and Sebastián Uchitel},

url = {https://www.sciencedirect.com/science/article/pii/S092188902300043X},

doi = {10.1016/j.robot.2023.104404},

issn = {09218890},

year  = {2023},

date = {2023-01-01},

journal = {Robotics and Autonomous Systems},

volume = {164},

pages = {104404},

abstract = {Controller synthesis has been successfully applied in UAV applications, to construct a mission plan that is guaranteed to be correct with respect to a user-provided specification. Albeit being correct, these plans may not be optimal in the vehicle's trajectory, battery consumption, or other criteria which the user may consider relevant. A possibility would be to apply a quantitative synthesis approach where the target is to compute efficient plans before the mission, at a higher cost of complexity and potential limitations in the optimization goals to achieve. As an alternative, in this paper we propose doing the plan optimization in-flight. For this, we use available tools that synthesize controllers with multiple controllable choices and later select among these choices in-flight using hybrid simulations ranking them according to the optimization objective. We present the advantages of our approach and validate them using software-in-the-loop simulation with typical UAV mission scenarios.},

note = {Publisher: North-Holland},

keywords = {Controller synthesis, Cyber-Physical Systems, DEVS, Hybrid simulation, LTL},

pubstate = {published},

tppubtype = {article}

}