Autonomous Power Line Inspection with Drones via Perception-Aware MPC
Jiaxu Xing,Giovanni Cioffi,Javier Hidalgo-Carrió,Davide Scaramuzza,Jiaxu Xing,Giovanni Cioffi,Javier Hidalgo-Carrió,Davide Scaramuzza
Drones have the potential to revolutionize power line inspection by increasing productivity, reducing inspection time, improving data quality, and eliminating the risks for human operators. Current state-of-the-art systems for power line inspection have two shortcomings: (i) control is decoupled from perception and needs accurate information about the location of the power lines and masts; (ii) ob...
