A Robotic Cognitive Architecture for Slope and Dam Inspections

• Main Authors: Milena F. Pinto, Leonardo M. Honorio, Aurélio Melo, Andre L. M. Marcato
• Format: Article
• Language: English
• Published: MDPI AG 2020-08-01
• Series: Sensors
• Subjects: dam inspection; intelligent sensing; rule-based expert system; decentralized architecture; decision-making; 3D reconstruction
• Online Access: https://www.mdpi.com/1424-8220/20/16/4579

Big construction enterprises, such as electrical power generation dams and mining slopes, demand continuous visual inspections. The sizes of these structures and the necessary level of detail in each mission requires a conflicting set of multi-objective goals, such as performance, quality, and safety. It is challenging for human operators, or simple autonomous path-following drones, to process all this information, and thus, it is common that a mission must be repeated several times until it succeeds. This paper deals with this problem by developing a new cognitive architecture based on a collaborative environment between the unmanned aerial vehicles (UAVs) and other agents focusing on optimizing the data gathering, information processing, and decision-making. The proposed architecture breaks the problem into independent units ranging from sensors and actuators up to high-level intelligence processes. It organizes the structures into data and information; each agent may request an individual behavior from the system. To deal with conflicting behaviors, a supervisory agent analyzes all requests and defines the final planning. This architecture enables real-time decision-making with intelligent social behavior among the agents. Thus, it is possible to process and make decisions about the best way to accomplish the mission. To present the methodology, slope inspection scenarios are shown.