Battery and WiFi aware 3D exploration based on temporal logics

Sammanfattning: Unmanned Aerial Vehicle (UAV) exploration is a rising field of interest in recent years. UAVs are agile and able to enter areas that humans cannot, making them ideal for exploration. To this end, many exploration algorithms have been developed and proven to work well in using UAVs. However, not much research has been done on exploration while taking into account both the WiFi signal as well as the battery life. Thus the subject of this thesis is 3D exploration with a UAV taking into consideration WiFi and battery. The aim is to closely follow the real-life situation, where the WiFi signal and battery life are not unlimited. Temporal logics will be used as a tool of action planning for the UAV, to meet the desired constraints on WiFi and battery life during exploration. A Büchi Automaton is created from a Linear Temporal Logics (LTL) formula that takes the desired objective into consideration. This Büchi Automaton is used to model and control the actions of the UAV. The thesis project is proven with simulation results which shows that the UAV is able to carry out the specified actions and objectives.