2018 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第5页

Modeling and Control of a Tailsitter UAV 无人机的建模与控制

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453301

Romain Chiappinelli, M. Nahon

引用次数: 11

Fixed-wing UAV with transitioning flight capabilities : Model-Based or Model-Free Control approach? A preliminary study 具有过渡飞行能力的固定翼无人机:基于模型还是无模型控制方法?初步研究

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453404

J. Barth, Jean-Philippe Condomines, M. Bronz, Leandro R. Lustosa, J. Moschetta, C. Join, M. Fliess

{"title":"Fixed-wing UAV with transitioning flight capabilities : Model-Based or Model-Free Control approach? A preliminary study","authors":"J. Barth, Jean-Philippe Condomines, M. Bronz, Leandro R. Lustosa, J. Moschetta, C. Join, M. Fliess","doi":"10.1109/ICUAS.2018.8453404","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453404","url":null,"abstract":"Transitioning vehicles experience three different flight phases during typical missions. The hovering and forward flight phases have been researched widely, however the transition phase in between is more challenging and has been the subject of less research. One of the control approaches to handle the transition phase relies on model-based methods which require sophisticated wind-tunnel characterization. Accurate modeling of force and moments of a partially stalled wing and control surfaces is highly challenging and time consuming. In addition, these models usually require several flight measurements (such as angle of attack and low airspeed) that are difficult to obtain. As an alternative, some control approaches manage the transition phase without the need for sophisticated models. One example of such an approach is the Model Free Control (MFC). This paper compares the results obtained from both MFC and Linear Quadratic Regulator (LQR) applied to fixed-wing UAV with transitioning flight capability during hovering, transition and forward flight modes. Both of the controllers are designed for a transitioning vehicle called MAVion. The simulation results demonstrated that MFC increases the stability of the aircraft, especially in disturbed flight conditions.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"15 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":"131332198","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: 1

Comprehensive Risk-based Planning for Small Unmanned Aircraft System Rooftop Landing 基于风险的小型无人机系统天台着陆综合规划

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453483

J. Castagno, C. Ochoa, E. Atkins

{"title":"Comprehensive Risk-based Planning for Small Unmanned Aircraft System Rooftop Landing","authors":"J. Castagno, C. Ochoa, E. Atkins","doi":"10.1109/ICUAS.2018.8453483","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453483","url":null,"abstract":"The expected proliferation of Unmanned Aircraft Systems (UAS) has prompted many to question their safety and reliability, particularly in urban areas. Failures and anomalies can lead to the need for emergency landing, which in turn requires the UAS operator or autonomy to rapidly identify and evaluate the risks for possible landing sites and trajectories to reach these sites. This paper proposes a method to optimize the overall emergency landing site and flight path risks. Although sensors can scan an immediate area, no safe site might be observable in which case pre-processed data on more distant safe sites is required. For example, in urban regions, out of sight flat rooftops may pose less risk to people and property than landing in streets or sidewalks. This paper proposes the offline construction of a landing site database using a variety of public data sources, uniquely allowing for the assessment of risk associated with a rooftop landing. A real-time map-based planner is presented that demonstrates a novel trade-off between landing site risk and path risk and provides a heuristic to improve decision-making efficiency.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"6 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":"126839096","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: 15

Model Based Roll Controller Tuning and Analysis for Small UAS in Turbulent Environments 湍流环境下小型无人机基于模型的横摇控制器整定与分析

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453442

H. Flanagan, S. G. Hagerott, Haiyang Chao

引用次数: 5

UAV Motion Planning and Control for Multi-Coverage of 3D Environments 面向多覆盖三维环境的无人机运动规划与控制

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453427

M. Weyrer, B. Rinner

引用次数: 2

PROTOTYPING OF UNMANNED AERIAL & GROUND VEHICLE (UAGV) 无人驾驶空中和地面车辆(uagv)原型

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453334

Sumeet Sagar, Siddhartha Aggarwal, Vinayak Chakravarty, Sunidhi Garg, Swati Sondhi

引用次数: 0

Thermal-Inertial Localization for Autonomous Navigation of Aerial Robots through Obscurants 基于热惯性定位的机载机器人隐身自主导航

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453447

C. Papachristos, Frank Mascarich, K. Alexis

引用次数: 33

Development of a Novel Polyhedral Multirotor: A Dodecahedral Aerial Vehicle 新型多面体多旋翼飞行器的研制:一种十二面体飞行器

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453361

Grégoire Guerout, Pierre C. Brechard Alarcia, A. Savvaris, A. Tsourdos

{"title":"Development of a Novel Polyhedral Multirotor: A Dodecahedral Aerial Vehicle","authors":"Grégoire Guerout, Pierre C. Brechard Alarcia, A. Savvaris, A. Tsourdos","doi":"10.1109/ICUAS.2018.8453361","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453361","url":null,"abstract":"The use of multirotor aerial vehicles for indoor applications is attracting a growing interest. To this extent, a novel platform with highly manoeuvrable capabilities and a safe structure has been designed and prototyped. It has a dodecahedron shape with a propulsion system in the centre of each of its sides. Owing to this, its six degrees of freedom, namely the three translational motion velocities and the three angular rates, can be controlled independently, minimising the coupling between the translational and rotational dynamics which most of the multirotor aerial vehicles currently possess. The prototype of dodecahedral aerial vehicle, the G-Dodecopter, is a robust and efficient aerial vehicle with all the components on the inside of the air-vehicle frame, making it a safe platform, while maximising the airflow. The original controller designed for this aerial vehicle is a concatenation of a Proportional-Integral, a Nonlinear Dynamic Inversion and a control allocator using Redistributed PseudoInverses. The simulations have demonstrated a working controller that can control the 6 Degrees of Freedom independently in the ideal case, and the flight tests have shown a working system but with some challenges, believed to be due to the ground effect.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 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":"128134170","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: 2

A Geometric Control Strategy for Real-time Coordination of Multiple Unmanned Aircraft Systems 多无人机系统实时协调的几何控制策略

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453484

G. A. Guijarro Reyes, L. R. García Carrillo, Pablo Rangel

{"title":"A Geometric Control Strategy for Real-time Coordination of Multiple Unmanned Aircraft Systems","authors":"G. A. Guijarro Reyes, L. R. García Carrillo, Pablo Rangel","doi":"10.1109/ICUAS.2018.8453484","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453484","url":null,"abstract":"In recent years, the application of Unmanned Aircraft Systems (UAS) has incremented due to their cost-effectiveness ratio, portability and reduced size. This allows their utilization in multiple operations in complex military and civilian applications. UAS operations sometimes require the usage of human pilots to manage the different situations that can be present at any moment of a mission, and to decide the better option for every UAS involved. The simplest way to realize these tasks is to gather multiple pilots, one for each UAS. However, this option carries the complexity of coordinating the actions of every pilot involved in the mission. This might require several hours of specialized training, delays, and higher costs. To mitigate these nuances, this paper proposes a geometric control method to stabilize multiple UAS in formation. Our method allows a group of UAS to accomplish tasks using a determined formation. Two experiments are presented that demonstrates the performance of the technique. In the first experiment, one UAS is configured as a leader, while a second UAS is configured as a follower. The second experiment considers a scenario where the leader UAS is replaced by a physical device that can be used by a non-trained human pilot to directly affect the behavior of the follower UAS.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"61 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":"132731751","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: 1

Deep Learning Neural Networks for sUAS-Assisted Structural Inspections: Feasibility and Application 深度学习神经网络用于suas辅助结构检测:可行性与应用

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453409

S. Dorafshan, R. Thomas, C. Coopmans, Marc Maguire

{"title":"Deep Learning Neural Networks for sUAS-Assisted Structural Inspections: Feasibility and Application","authors":"S. Dorafshan, R. Thomas, C. Coopmans, Marc Maguire","doi":"10.1109/ICUAS.2018.8453409","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453409","url":null,"abstract":"This paper investigates the feasibility of using a Deep Learning Convolutional Neural Network (DLCNN) in inspection of concrete decks and buildings using small Unmanned Aerial Systems (sUAS). The training dataset consists of images of lab-made bridge decks taken with a point-and-shoot high resolution camera. The network is trained on this dataset in two modes: fully trained (94.7% validation accuracy) and transfer learning (97.1% validation accuracy). The testing datasets consist of 1620 sub-images from bridge decks with the same cracks, 2340 sub-images from bridge decks with similar cracks, and 3600 sub-images from a building with different cracks, all taken by sUAS. The sUAS used in the first dataset has a low-resolution camera whereas the sUAS used in the second and third datasets has a camera comparable to the point-and-shoot camera. In this study it has been shown that it is feasible to apply DLCNNs in autonomous civil structural inspections with comparable results to human inspectors when using off-the-shelf sUAS and training datasets collected with point-and-shoot handheld cameras.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"159 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":"134205301","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: 39