Unmanned Syst.最新文献_第10页

Four-Channel 3D Around View Monitoring Algorithm Using Hemispherical Projection Model 基于半球面投影模型的四通道三维环视监测算法

Unmanned Syst. Pub Date : 2019-07-23 DOI: 10.1142/S2301385019410024

Jung-Hwan Kim, Joonhong Lim

引用次数: 0

From Neurorobotic Localization to Autonomous Vehicles 从神经机器人定位到自动驾驶汽车

Unmanned Syst. Pub Date : 2019-07-23 DOI: 10.1142/S2301385019410048

Yoan Espada, N. Cuperlier, Guillaume Bresson, Olivier Romain

{"title":"From Neurorobotic Localization to Autonomous Vehicles","authors":"Yoan Espada, N. Cuperlier, Guillaume Bresson, Olivier Romain","doi":"10.1142/S2301385019410048","DOIUrl":"https://doi.org/10.1142/S2301385019410048","url":null,"abstract":"The navigation of autonomous vehicles is confronted to the problem of an efficient place recognition system which is able to handle outdoor environments on the long run. The current Simultaneous Localization and Mapping (SLAM) and place recognition solutions have limitations that prevent them from achieving the performances needed for autonomous driving. This paper suggests handling the problem from another perspective by taking inspiration from biological models. We propose a neural architecture for the localization of an autonomous vehicle based on a neurorobotic model of the place cells (PC) found in the hippocampus of mammals. This model is based on an attentional mechanism and only takes into account visual information from a mono-camera and the orientation information to self-localize. It has the advantage to work with low resolution camera without the need of calibration. It also does not need a long learning phase as it uses a one-shot learning system. Such a localization model has already been integrated in a robot control architecture which allows for successful navigation both in indoor and small outdoor environments. The contribution of this paper is to study how it passes the scale change by evaluating the performance of this model over much larger outdoor environments. Eight experiments using real data (image and orientation) grabbed by a moving vehicle are studied (coming from the KITTI odometry datasets and datasets taken with VEDECOM vehicles). Results show the strong adaptability to different kinds of environments of this bio-inspired model primarily developed for indoor navigation.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129726070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Evidential SLAM Fusing 2D Laser Scanner and Stereo Camera 证据SLAM融合二维激光扫描仪和立体相机

Unmanned Syst. Pub Date : 2019-07-23 DOI: 10.1142/S2301385019410012

Michelle Valente, C. Joly, A. D. L. Fortelle

{"title":"Evidential SLAM Fusing 2D Laser Scanner and Stereo Camera","authors":"Michelle Valente, C. Joly, A. D. L. Fortelle","doi":"10.1142/S2301385019410012","DOIUrl":"https://doi.org/10.1142/S2301385019410012","url":null,"abstract":"This work introduces a new complete Simultaneous Localization and Mapping (SLAM) framework that uses an enriched representation of the world based on sensor fusion and is able to simultaneously provide an accurate localization of the vehicle. A method to create an Evidential grid representation from two very different sensors, laser scanner and stereo camera, allows a better handling of the dynamic aspects of the urban environment and a proper management of errors to create a more reliable map, thus having a more precise localization. A life-long layer with high level states is presented, it maintains a global map of the entire vehicle’s trajectory and distinguishes between static and dynamic obstacles. Finally, we propose a method that at each current map creation estimates the vehicle’s position by a grid matching algorithm based on image registration techniques. Results on a real road dataset show that the environment mapping data can be improved by adding relevant information that could be missed without the proposed approach. Moreover, the proposed localization method is able to reduce the drift and improve the localization compared to other methods using similar configurations.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115096352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Editorial: Special Issue on Artificial Intelligence and Computer Vision 社论:人工智能与计算机视觉特刊

Unmanned Syst. Pub Date : 2019-07-23 DOI: 10.1142/S2301385019020023

Han Wang

引用次数: 1

End-to-End Learning of Semantic Grid Estimation Deep Neural Network with Occupancy Grids 基于占用网格的语义网格估计深度神经网络的端到端学习

Unmanned Syst. Pub Date : 2019-07-01 DOI: 10.1142/S2301385019410036

Ö. Erkent, Christian Wolf, C. Laugier

引用次数: 10

Cooperative Task Assignment and Trajectory Planning of Unmanned Systems Via HFLC and PSO 基于HFLC和PSO的无人系统协同任务分配与轨迹规划

Unmanned Syst. Pub Date : 2019-06-19 DOI: 10.1142/S2301385019500018

A. T. Hafez, M. A. Kamel

{"title":"Cooperative Task Assignment and Trajectory Planning of Unmanned Systems Via HFLC and PSO","authors":"A. T. Hafez, M. A. Kamel","doi":"10.1142/S2301385019500018","DOIUrl":"https://doi.org/10.1142/S2301385019500018","url":null,"abstract":"This paper investigates the problems of cooperative task assignment and trajectory planning for teams of cooperative unmanned aerial vehicles (UAVs). A novel approach of hierarchical fuzzy logic controller (HFLC) and particle swarm optimization (PSO) is proposed. Initially, teams of UAVs are moving in a pre-defined formation covering a specified area. When one or more targets are detected, the teams send a package of information to the ground station (GS) including the target’s degree of threat, degree of importance, and the separating distance between each team and each detected target. Based on the gathered information, the ground station assigns the teams to the targets. HFLC is implemented in the GS to solve the assignment problem ensuring that each team is assigned to a unique target. Next, each team plans its own path by formulating the path planning problem as an optimization problem. The objective in this case is to minimize the time to reach their destination considering the UAVs dynamic constraints and collision avoidance between teams. A hybrid approach of control parametrization and time discretization (CPTD) and PSO is proposed to solve this optimization problem. Finally, numerical simulations demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115608336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 19

Quantum Network of Cooperative Unmanned Autonomous Systems 协同无人自主系统的量子网络

Unmanned Syst. Pub Date : 2019-06-19 DOI: 10.1142/S2301385019500055

Farbod Khoshnoud, I. Esat, C. D. Silva, M. Quadrelli

{"title":"Quantum Network of Cooperative Unmanned Autonomous Systems","authors":"Farbod Khoshnoud, I. Esat, C. D. Silva, M. Quadrelli","doi":"10.1142/S2301385019500055","DOIUrl":"https://doi.org/10.1142/S2301385019500055","url":null,"abstract":"A quantum network may be realized by the entanglement of particles communicated by qubits between quantum computers, where the entangled photons of light are transferred for communication purposes. This technology has been proven to be feasible experimentally through free-space distribution of entangled photon pairs. Sending photons of light through nonlinear crystals produces correlated photon pairs, by splitting each photon into two half particles with each particle having the same level of energy, which results in entangled pairs. This entanglement is represented by photons, having both either horizontal or vertical polarization. This paper investigates collaborative robotic tasks of unmanned systems in a network where the agents are entangled. For instance, a leader robot sends two identical photons (e.g. with vertical polarization) to two follower robots/autonomous vehicles to communicate information about various tasks such as swarm, formation, trajectory tracking, path following and collaborative tasks. The potential advantages of quantum cooperation of robotic agents is the speed of the process, the ability to achieve security with immunity against cyberattacks, and fault tolerance, through entanglement. If a Quantum Network is implemented in a robotic application, it would present an effective solution; for example, for a group of unmanned systems working securely together. An analytical basis of such systems is investigated in this paper, and the formulation of quantum cooperation of unmanned systems is presented and discussed. The concept of experimental quantum entanglement, as well as quantum cryptography (QC), for robotics applications is presented.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131471647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Optimal SUAS Path Planning in Three-Dimensional Constrained Environments 三维约束环境下SUAS最优路径规划

Unmanned Syst. Pub Date : 2019-06-19 DOI: 10.1142/S2301385019500031

Michael D. Zollars, R. Cobb, David J. Grymin

{"title":"Optimal SUAS Path Planning in Three-Dimensional Constrained Environments","authors":"Michael D. Zollars, R. Cobb, David J. Grymin","doi":"10.1142/S2301385019500031","DOIUrl":"https://doi.org/10.1142/S2301385019500031","url":null,"abstract":"Small Unmanned Aircraft Systems have grown in autonomy and capability and continue to complement Department of Defense mission objectives. Teaming unmanned aircraft with manned vehicles can expand mission profiles and reduce risk to human life. To fully leverage unmanned systems, vehicles must be efficient and autonomous in path planning development. The work herein explores direct orthogonal collocation optimal control techniques combined with fast geometric path planning algorithms to reduce computation time and increase solution accuracy for small unmanned aircraft systems path planning missions. Previous work in the two-dimensional plane demonstrated a methodology to provide optimal flight paths through defined simplex corridors and simplified the optimal control parameter bounds by formulating the problem in the barycentric coordinate system. These methodologies are extended in this paper for three-dimensional flight and are solved with two different formulations for flight in an urban environment. The first formulation solves the constrained optimal control problem using a single phase while modeling the building constraints with superquadric functions. The second formulation implements the simplex methodology, eliminating polygonal constraints from the search domain, and solving the optimal path in a multiple phase approach. Results illustrate the benefits gained in computation time and accuracy when implementing simplex methods into the optimal control design and provide a foundation for closing the gap to real-time, onboard operations for unmanned vehicle path planning.","PeriodicalId":164619,"journal":{"name":"Unmanned Syst.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2019-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129478936","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Waypoint Constrained Multi-Phase Optimal Guidance of Spacecraft for Soft Lunar Landing 航天器软月着陆航路点约束多相优化制导

Unmanned Syst. Pub Date : 2019-06-19 DOI: 10.1142/S230138501950002X

Kapil Sachan, R. Padhi

引用次数: 11

Time-Varying Formation Control for Time-Delayed Multi-Agent Systems with General Linear Dynamics and Switching Topologies 具有一般线性动力学和开关拓扑的时延多代理系统的时变编队控制

Unmanned Syst. Pub Date : 2019-04-07 DOI: 10.1142/S2301385019400016

Wei Xiao, Jianglong Yu, Rui Wang, Xiwang Dong, Qingdong Li, Z. Ren

引用次数: 19