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dc.contributor.authorAgha-mohammadi, Ali-akbar
dc.contributor.authorUre, Nazim Kemal
dc.contributor.authorHow, Jonathan P.
dc.contributor.authorVian, John
dc.date.accessioned2014-08-27T16:49:14Z
dc.date.available2014-08-27T16:49:14Z
dc.date.issued2014-09
dc.identifier.otherINSPEC Accession Number: 14718074
dc.identifier.urihttp://hdl.handle.net/1721.1/89077
dc.description.abstractIn persistent missions, taking system’s health and capability degradation into account is an essential factor to predict and avoid failures. The state space in health-aware planning problems is often a mixture of continuous vehicle-level and discrete mission-level states. This in particular poses a challenge when the mission domain is partially observable and restricts the use of computationally expensive forward search methods. This paper presents a method that exploits a structure that exists in many health-aware planning problems and performs a two-layer planning scheme. The lower layer exploits the local linearization and Gaussian distribution assumption over vehicle-level states while the higher layer maintains a non-Gaussian distribution over discrete mission-level variables. This two-layer planning scheme allows us to limit the expensive online forward search to the mission-level states, and thus predict system’s behavior over longer horizons in the future. We demonstrate the performance of the method on a long duration package delivery mission using a quadrotor in a partially-observable domain in the presence of constraints and health/capability degradation.en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2014.6943034en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceAgha-mohammaden_US
dc.titleHealth Aware Stochastic Planning For Persistent Package Delivery Missions Using Quadrotorsen_US
dc.typeArticleen_US
dc.identifier.citationAgha-mohammadi, Ali-akbar, Nazim Kemal Ure, Jonathan P. How, and John Vian. "Health Aware Stochastic Planning For Persistent Package Delivery Missions Using Quadrotors." IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, September 14-18, 2014, pp.3389-3396.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Aeronautics and Astronauticsen_US
dc.contributor.approverAgha-mohammad, Ali-akbaren_US
dc.contributor.mitauthorAgha-mohammadi, Ali-akbaren_US
dc.contributor.mitauthorUre, Nazim Kemalen_US
dc.contributor.mitauthorHow, Jonathan P.en_US
dc.relation.journalProceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsAgha-mohammadi, Ali-akbar; Ure, Nazim Kemal; How, Jonathan P.; Vian, Johnen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-8576-1930
mit.licenseOPEN_ACCESS_POLICYen_US


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