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Introduction Methodology Experimental Evaluation Summary
Planning and Evaluation of UAV Mission Planner forIntralogistics Problems
Thiago R. F. Cavalcante 1 Iury Bessa 1 Lucas C. Cordeiro 2
1Federal University of Amazonas, Manaus, Brazil
2University of Oxford, Oxford, United Kingdom
November 11, 2017
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Planning and Evaluation of UAV Mission Planner 1 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 2 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Problem
Delivery of Inputs to ProductionLines (Intralogistics)
Planning and Evaluation of UAV Mission Planner 3 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
Figure 1: Robot Arm. Source: The New York Times
Planning and Evaluation of UAV Mission Planner 4 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
Figure 2: Conveyor Belt. Source: iStock
Planning and Evaluation of UAV Mission Planner 4 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
GIF: Use of UAV. Source: Robotic Gizmos
Planning and Evaluation of UAV Mission Planner 5 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
Figure 3: DHL UAV. Source: DHL
Planning and Evaluation of UAV Mission Planner 6 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
Figure 4: Amazon UAV. Source: Amazon
Planning and Evaluation of UAV Mission Planner 6 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
Figure 5: Multirotor UAV. Source: MULTIROTOR
Planning and Evaluation of UAV Mission Planner 6 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
I Logistics has become a competitive and fundamental factor fororganizations, involving the management, conservation, andsupervision of freight transport;
I An excellent logistics means client satisfaction; so speed is stillan important factor in a successful logistics process.
Planning and Evaluation of UAV Mission Planner 7 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Motivation
I Logistics has become a competitive and fundamental factor fororganizations, involving the management, conservation, andsupervision of freight transport;
I An excellent logistics means client satisfaction; so speed is stillan important factor in a successful logistics process.
Planning and Evaluation of UAV Mission Planner 7 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 8 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Objectives
Evaluate UAV intralogistics mission planner algorithms withrespect to flight time
I A novel evaluation methodology for UAV intralogistics missionplanners algorithms;
I Development of an intralogistcs mission planner framework;
I Use of a commercial UAV system in intralogistics missions todemonstrate the evaluation methodology efficiency.
Planning and Evaluation of UAV Mission Planner 9 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Objectives
Evaluate UAV intralogistics mission planner algorithms withrespect to flight time
I A novel evaluation methodology for UAV intralogistics missionplanners algorithms;
I Development of an intralogistcs mission planner framework;
I Use of a commercial UAV system in intralogistics missions todemonstrate the evaluation methodology efficiency.
Planning and Evaluation of UAV Mission Planner 9 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Objectives
Evaluate UAV intralogistics mission planner algorithms withrespect to flight time
I A novel evaluation methodology for UAV intralogistics missionplanners algorithms;
I Development of an intralogistcs mission planner framework;
I Use of a commercial UAV system in intralogistics missions todemonstrate the evaluation methodology efficiency.
Planning and Evaluation of UAV Mission Planner 9 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 10 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
System’s Architecture
InputsAvailable
Client’sOrder
MissionPlanner
MissionCommands UAV
ControlProgram
MAVLinkCommands
UAVAPI
DroneKit
Mission
Figure 6: System’s Architecture.
Planning and Evaluation of UAV Mission Planner 11 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 12 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Case Study
Warehouse
Production Lines
ClientA, B, C
X=2A+C
Y=2B+C
S =4 p.u.X
S =6 p.u.Y
Figure 7: Case Study Representation.
Planning and Evaluation of UAV Mission Planner 13 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 14 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Mission PlannersPlanner 1
Check theOrder
Go to theWarehouse
Get Input ABring to P.L.
Get Input CBring to P.L.
Wait X toproduce
Bring X tothe Client
2x
Production of all X elements finish
Get Input BBring to P.L.
Get Input CBring to P.L.
Wait Y toproduce
Bring Y tothe Client
2x
Production of all Y elements finish
GenerateMission
Figure 8: Case Study Representation.
Planning and Evaluation of UAV Mission Planner 15 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Mission PlannersPlanner 2
Initializet & tx y
Go to theWarehouse
Get Input ABring to P.L.
Get Input CBring to P.L.
Wait X toproduce
Bring X tothe Client
2x
Production of all X elements finish
Get Input BBring to P.L.
Get Input CBring to P.L.
Start theCounterof this Y
Bring Y tothe Client
2x
Production of all Y elements finish
GenerateMission
Check theOrder
KeepProducing
untill counter=ty
KeepProducing
untill counter=tx
Figure 9: Case Study Representation.
Planning and Evaluation of UAV Mission Planner 16 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 17 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Optimization Problem Model
Cmission - Variable to be minimized.
Cmission =M
∑i=1
N
∑j=1
(pj + si)xij , (1)
Cmax - Maximum production time obtained empirically.
min Cmission,
s.t. ∑Mi=1 ∑
Nj=1 xij = 1,
Cmission ≤ Cmax
(2)
Planning and Evaluation of UAV Mission Planner 18 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Outline
1 IntroductionMotivationObjectives
2 MethodologySystem’s ArchitectureCase StudyMission PlannersOptimization Problem ModelPlanner Evaluation Methodology
3 Experimental Evaluation
4 Summary
Planning and Evaluation of UAV Mission Planner 19 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Planner Evaluation Methodology
co - Cost obtained by CPLEX Solver.cX - Cost obtained by counting the number of GoTo command duringa mission.
MPCIX =co
cX, (3)
Where 0 ≤ MPCIX ≤ 1.
Planning and Evaluation of UAV Mission Planner 20 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Experimental Evaluation
The experimental evaluation aims to answer the following researchquestions:
RQ1 Does the framework for mission planning, command and controlfor intralogistics mission using a UAV produce the expectedresults?
RQ2 Is the metrics of mission evaluation efficient?
Planning and Evaluation of UAV Mission Planner 21 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Experimental Evaluation
The experimental evaluation aims to answer the following researchquestions:
RQ1 Does the framework for mission planning, command and controlfor intralogistics mission using a UAV produce the expectedresults?
RQ2 Is the metrics of mission evaluation efficient?
Planning and Evaluation of UAV Mission Planner 21 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Experimental Evaluation
The experimental evaluation aims to answer the following researchquestions:
RQ1 Does the framework for mission planning, command and controlfor intralogistics mission using a UAV produce the expectedresults?
RQ2 Is the metrics of mission evaluation efficient?
Planning and Evaluation of UAV Mission Planner 21 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Experimental Evaluation
Test#
Flight Time of PlannersSimulator 3DR Iris+1 2 1 2
1 460.41 436.08 455.12 441.722 460.69 436.89 456.93 440.183 460.08 441.68 457.19 447.514 460.72 441.03 460.25 438.195 460.23 451.87 459.47 445.85
Table 1: Mission Planners FlightTimes.
Planner 1 Planner 2MPCI 0.319 0.328
Table 2: MPCI of the Planners.
Planning and Evaluation of UAV Mission Planner 22 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Summary
I We have developed a framework for mission planning and controlfor intralogistics mission using a commercial UAV;
I We have used that evaluation methodology to evaluate theperformance of two different UAV Mission Planner algorithms.
I OutlookI Improve the optimization problem modeling for better results in
cost evaluation;I Perform experiments in a cooperative work environment;I Develop more planner strategies such as an algorithm that
produces different types of products simultaneously.
Planning and Evaluation of UAV Mission Planner 23 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Summary
I We have developed a framework for mission planning and controlfor intralogistics mission using a commercial UAV;
I We have used that evaluation methodology to evaluate theperformance of two different UAV Mission Planner algorithms.
I OutlookI Improve the optimization problem modeling for better results in
cost evaluation;I Perform experiments in a cooperative work environment;I Develop more planner strategies such as an algorithm that
produces different types of products simultaneously.
Planning and Evaluation of UAV Mission Planner 23 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Summary
I We have developed a framework for mission planning and controlfor intralogistics mission using a commercial UAV;
I We have used that evaluation methodology to evaluate theperformance of two different UAV Mission Planner algorithms.
I OutlookI Improve the optimization problem modeling for better results in
cost evaluation;I Perform experiments in a cooperative work environment;I Develop more planner strategies such as an algorithm that
produces different types of products simultaneously.
Planning and Evaluation of UAV Mission Planner 23 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Summary
I We have developed a framework for mission planning and controlfor intralogistics mission using a commercial UAV;
I We have used that evaluation methodology to evaluate theperformance of two different UAV Mission Planner algorithms.
I OutlookI Improve the optimization problem modeling for better results in
cost evaluation;I Perform experiments in a cooperative work environment;I Develop more planner strategies such as an algorithm that
produces different types of products simultaneously.
Planning and Evaluation of UAV Mission Planner 23 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Summary
I We have developed a framework for mission planning and controlfor intralogistics mission using a commercial UAV;
I We have used that evaluation methodology to evaluate theperformance of two different UAV Mission Planner algorithms.
I OutlookI Improve the optimization problem modeling for better results in
cost evaluation;I Perform experiments in a cooperative work environment;I Develop more planner strategies such as an algorithm that
produces different types of products simultaneously.
Planning and Evaluation of UAV Mission Planner 23 / 23 SBESC 2017
Introduction Methodology Experimental Evaluation Summary
Summary
I We have developed a framework for mission planning and controlfor intralogistics mission using a commercial UAV;
I We have used that evaluation methodology to evaluate theperformance of two different UAV Mission Planner algorithms.
I OutlookI Improve the optimization problem modeling for better results in
cost evaluation;I Perform experiments in a cooperative work environment;I Develop more planner strategies such as an algorithm that
produces different types of products simultaneously.
Planning and Evaluation of UAV Mission Planner 23 / 23 SBESC 2017