Energy-Aware Planning-Scheduling for Autonomous Aerial Robots
Adam Seewald,Héctor García de Marina,Henrik Skov Midtiby,Ulrik Pagh Schultz,Adam Seewald,Héctor García de Marina,Henrik Skov Midtiby,Ulrik Pagh Schultz
In this paper, we present an online planning-scheduling approach for battery-powered autonomous aerial robots. The approach consists of simultaneously planning a coverage path and scheduling onboard computational tasks. We further derive a novel variable coverage motion robust to air-borne constraints and an empirically motivated energy model. The model includes the energy contribution of the sche...
