Publications / 2019 Proceedings of the 36th ISARC, Banff, Alberta, Canada

Dispersed Cyber-Physical Coordination and Path Planning Using Unmanned Aerial Vehicle

Alexey Bulgakov, Daher Sayfeddine, Thomas Bock and Sergei Emelianov
Pages 730-734 (2019 Proceedings of the 36th ISARC, Banff, Alberta, Canada, ISBN 978-952-69524-0-6)

In recent years, drones have been used exclusively for military missions, but with the advent of new characteristics in UAV technology, more industries are now moving to add this new element to their practices. Engineers and analysts use UAVs to monitor projects, scan the ground, find out its dimensions and reduce the incidence of costly errors. The Drones improved the world over the next years and its use becomes a general trend in all areas, including industrial. Technology can be said to have a way of breaking down barriers and making impossible. The emergence and spread of a technological event is one of the key features that ensure the continuation of technological progress, and also guarantees us the creation of best products that the future holds. In this paper, we analyze a close coordination between dispersed cyber-physical system parts; aiming to mount pre-casted concrete pergola sections on rooftop of a building. The system consist of a manipulating robotized crane, moving the sections of pergola to the top level and positioning them according to a predefined shape. For better positioning of the sections, the trajectory of the manipulating system, in terms of lifting altitude, and two-dimensional positioning, is coordinated using unmanned aerial vehicle.

Keywords: Cyber-physical system; UAV; Robot path planning