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Navigation data extraction from monocular camera images during final approach 最后进近时单目相机图像的导航数据提取
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453457
Antal Hiba, Andras Szabo, T. Zsedrovits, P. Bauer, Á. Zarándy
{"title":"Navigation data extraction from monocular camera images during final approach","authors":"Antal Hiba, Andras Szabo, T. Zsedrovits, P. Bauer, Á. Zarándy","doi":"10.1109/ICUAS.2018.8453457","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453457","url":null,"abstract":"Fault tolerant flight control systems require multiple independent sources of navigation data, especially in the case of low altitude maneuvers. During final approach, the relative position and orientation of the aircraft can be computed based on monocular camera images in which the runway presents. However, this navigation sensor has different error characteristics compared to ILS or GNSS. This paper presents the first steps towards a runway detection method with subpixel accuracy and collects the main possible bottlenecks of vision-aided navigation.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115537174","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
A Low-Cost Tilt-Augmented Quadrotor Helicopter : Modeling and Control 低成本倾斜增强四旋翼直升机:建模和控制
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453376
Mahathi Bhargavapuri, Jay Patrikar, S. R. Sahoo, Mangal Kothari
{"title":"A Low-Cost Tilt-Augmented Quadrotor Helicopter : Modeling and Control","authors":"Mahathi Bhargavapuri, Jay Patrikar, S. R. Sahoo, Mangal Kothari","doi":"10.1109/ICUAS.2018.8453376","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453376","url":null,"abstract":"This paper presents modeling and control of a low-cost tilt-augmented quadrotor helicopter. Conventional rotary wing unmanned aerial vehicles (UAVs) with the capability to take-off and land vertically suffer from under actuation. The problem of having strictly fewer control inputs as compared to degrees of freedom of the system induces control design challenges and limits the flight envelope of the vehicle due to coupled states. This work considers a tilt-augmented quadrotor helicopter which is a fully actuated system as the number of control inputs are equal to the system degrees of freedom. Hence, control design for each degree of freedom of the system is decoupled and can be independently carried out. Mathematical modeling of the tilt-augmented quadrotor helicopter is presented which reveals the challenge of control allocation for the available actuators. A PD-type quaternion based attitude controller is developed to ensure stabilization. A PID controller is proposed for position tracking. Numerical simulations as well as experimental results are presented to validate the proposed vehicle model and control design.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115798242","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
A Brief Introduction to Unmanned Systems Autonomy Services (UxAS) 无人系统自主服务(UxAS)简介
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453287
S. Rasmussen, Derek B. Kingston, Laura R. Humphrey
{"title":"A Brief Introduction to Unmanned Systems Autonomy Services (UxAS)","authors":"S. Rasmussen, Derek B. Kingston, Laura R. Humphrey","doi":"10.1109/ICUAS.2018.8453287","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453287","url":null,"abstract":"Future concepts for autonomy envisage teams of unmanned aerial vehicles (UAVs) performing a variety of missions quickly, efficiently, and with minimal human oversight. However, developers of mission-level autonomy for UAV teams face many challenges. These include the need to support ad hoc inter-UAV communication, to provide a baseline set of autonomous capabilities, to support the ongoing incorporation of new autonomous capabilities, and to manage the inherent complexity of the software. To address these challenges, we developed the Unmanned Systems Autonomy Services (UxAS), an extensible software framework for mission-level autonomy for teams of unmanned systems, with a focus on UAVs. UxAS was borne out of over 15 years of research and 10 years of flight testing and is now publicly available and free to use.We start with a discussion of mission-level autonomy, followed by an overview of UxAS. Next, we provide a high-level comparison to other software frameworks and a more in-depth comparison to the Robot Operating System. Then, we provide details on UxAS services and configuration, discuss how a core set of services can be configured to work together to plan and execute a multi-UAV surveillance mission, describe utilization and flight testing of UxAS, and discuss areas of future work.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124378974","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: 37
On-board Health-state Awareness to Detect Degradation in Multirotor Systems 机载健康状态感知检测多旋翼系统退化
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453459
Marjorie Darrah, Alex Rubenstein, E. Sorton, B. DeRoos
{"title":"On-board Health-state Awareness to Detect Degradation in Multirotor Systems","authors":"Marjorie Darrah, Alex Rubenstein, E. Sorton, B. DeRoos","doi":"10.1109/ICUAS.2018.8453459","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453459","url":null,"abstract":"This paper presents the development and demonstration of an on-board health-state awareness technology that can predict degradation over the dynamic operational life of the vehicle. We established the feasibility of replacing the standard electronic speed control on a small UAV with an Intelligent Electronic Speed Control (IESC) that uses the telemetry data from sensors to develop an intelligent rule set extracted from a trained artificial neural network to detect propulsion system degradation, predict specific types of failures by analyzing sensor data collected from the motor and ESC, and access life cycle characteristics for a UAV propulsion system. The IESC will improve performance and reliability, increase safety and decrease maintenance costs by detecting issues prior to flight. The long term goal of the project is to be able to predict failures across families of small UAV based upon historic performance data that can be shared among users.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114802603","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: 5
An Actuator Fault Tolerant Control for VTOL vehicles using Fault Estimation Observers: Practical validation* 基于故障估计观测器的垂直起降飞行器执行器容错控制:实践验证*
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453288
G. Ortiz-Torres, P. Castillo, J. Reyes-Reyes
{"title":"An Actuator Fault Tolerant Control for VTOL vehicles using Fault Estimation Observers: Practical validation*","authors":"G. Ortiz-Torres, P. Castillo, J. Reyes-Reyes","doi":"10.1109/ICUAS.2018.8453288","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453288","url":null,"abstract":"A design of a Fault Tolerant Control (FTC) based on the fault estimation for VTOLs (Vertical Take-Off and Landing) aerial vehicles is developed in this paper. An analysis of static controllability is applied in order to test the performance degradation of the vehicle under actuator faults. For comparison purposes, the algorithm is developed using two different observers: a linear Proportional-Integral Observer (PIO) and a nonlinear Adaptive Observer (AO), that are applied to the attitude and altitude dynamics of the VTOL aircraft to estimate and compensate actuator faults in the prototype. These faults can occur as partial faults affecting simultaneously two or four actuators. Furthermore, fault isolation is proposed by evaluating the fault estimation signal. The fault control scheme is analysed in flight tests to illustrate its effectiveness. Experimental results show the good performance of the algorithms even in the presence of non-constant actuator faults and following a desired trajectory.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"313 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123492903","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: 5
Evaluating Ground Risk for Road Networks Induced by UAV Operations* 无人机操作引发的道路网络地面风险评估*
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453441
S. Bertrand, N. Raballand, F. Viguier
{"title":"Evaluating Ground Risk for Road Networks Induced by UAV Operations*","authors":"S. Bertrand, N. Raballand, F. Viguier","doi":"10.1109/ICUAS.2018.8453441","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453441","url":null,"abstract":"This paper presents a new method to evaluate the risk for road networks induced by UAV operations. The hazardous event considered for risk assessment is an accident with damages caused by an UAV falling on a road. Computation models are proposed to evaluate the probability of each event the sequence of which would lead to such an accident. Influences of the type of road as well as the road traffic are taken into account in the models. Simulation results are presented to illustrate risk evaluation by the proposed approach through a case study of a road network of several kilometres. Some metrics are also introduced to analyse the risk in a comprehensive way.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121955262","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: 13
Lessons Learned from UAV-Based Remote Sensing for Precision Agriculture * 无人机遥感技术在精准农业中的应用*
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453445
S. Bhandari, A. Raheja, M. Chaichi, R. Green, Dat Do, Frank Pham, M. Ansari, Joseph Wolf, Tristan M. Sherman, Antonio Espinas
{"title":"Lessons Learned from UAV-Based Remote Sensing for Precision Agriculture *","authors":"S. Bhandari, A. Raheja, M. Chaichi, R. Green, Dat Do, Frank Pham, M. Ansari, Joseph Wolf, Tristan M. Sherman, Antonio Espinas","doi":"10.1109/ICUAS.2018.8453445","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453445","url":null,"abstract":"This paper presents the lessons learned from the ongoing investigation at Cal Poly Pomona on the effectiveness of UAV-based remote sensing technology in detecting plant stresses due to water and nutrients. UAVs equipped with multispectral/hyperspectral sensors and RGB cameras were flown over lettuce and citrus plants at Cal Poly Pomona’s Spadra farm. The spectral sensor data were used in the determination of various vegetation indices that provide information on the water and nitrogen stresses of the plants. Proximal sensors that were used for the verification of remote sensing data included water potential meter, chlorophyll meter, and handheld spectroradiometer. The paper shows the relationship between the remote sensing and proximal sensor data. The paper also discusses the flight test procedures, data collection methods, and lessons learned so far.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126182479","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
The Value of Step-by-Step Risk Assessment for Unmanned Aircraft 无人机分步风险评估的价值
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453411
A. L. Cour-Harbo
{"title":"The Value of Step-by-Step Risk Assessment for Unmanned Aircraft","authors":"A. L. Cour-Harbo","doi":"10.1109/ICUAS.2018.8453411","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453411","url":null,"abstract":"The new European legislation expected in 2018 or 2019 will introduce a step-by-step process for conducting risk assessments for unmanned aircraft flight operations. This is a relatively simple approach to a very complex challenge. This work compares this step-by-step process to high fidelity risk modeling, and shows that at least for a series of example flight missions there is reasonable agreement between the two very different methods.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129476492","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: 16
Coverage Path Planning for Surveying Disjoint Areas 测量不相交区域的覆盖路径规划
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453386
J. I. Vasquez-Gomez, J. Herrera-Lozada, M. Olguín-Carbajal
{"title":"Coverage Path Planning for Surveying Disjoint Areas","authors":"J. I. Vasquez-Gomez, J. Herrera-Lozada, M. Olguín-Carbajal","doi":"10.1109/ICUAS.2018.8453386","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453386","url":null,"abstract":"Terrain surveying using unmanned aerial vehicles (UAV) is being applied to many areas such as precision agriculture or battlefield surveillance. A core problem of the surveying task is the coverage path planning problem (CPP); it is defined as the task of determining a path for an unmanned aerial vehicle so that it observes all points of a target area. State-of-the-art planners solve the problem for a unique region. However, in some operations, for example search and rescue, it is important to plan a path that covers more than a single area. We propose a method for solving the CPP for disjoint areas. The general problem is modeled as a rural postman problem which has been demonstrated to be NP-Hard. Our solution relies on dividing the problem into two steps: optimization of the visiting order and optimization of the flight lines orientation. The method is validated through several simulations using real parameters. In addition, it is fast enough for being implemented onboard.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127538214","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: 28
An adaptive robust nonlinear observer for velocity and disturbance estimation for the translational motion of a quadrotor aircraft 基于自适应鲁棒非线性观测器的四旋翼飞行器平动速度和扰动估计
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453353
A. Rodriguez-mata, G. Flores, H. Aguilar-Sierra, J. G. Rangel‐Peraza, L. Amabilis-Sosa, A. Flores
{"title":"An adaptive robust nonlinear observer for velocity and disturbance estimation for the translational motion of a quadrotor aircraft","authors":"A. Rodriguez-mata, G. Flores, H. Aguilar-Sierra, J. G. Rangel‐Peraza, L. Amabilis-Sosa, A. Flores","doi":"10.1109/ICUAS.2018.8453353","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453353","url":null,"abstract":"An adaptive robust observer for UAVs position estimation problem is proposed in this paper. The observer design was obtained from a change of coordinates, where a nonlinear system was transformed to a canonical observable model. A practical stability was proved using the Lyapunov approach, and it is proved that the states converge inside a ball that depends on the high gain radius r, which is given in the proof. Simulation scenarios were carried out to validate the performance of the closed-loop system. These validation experiments were under ideal classical conditions without disturbance and then disturbance was added in the states to emulate a real system. Results showed the adaptive disturbance rejection of the observer. In addition, the observer was also validated online by measuring real data from outdoors flight test to estimate the velocity and disturbances of translational movement.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130601645","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: 5
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