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2018 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

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Fast Mutual Relative Localization of UAVs using Ultraviolet LED Markers 紫外LED标记无人机快速互相对定位
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453331
V. Walter, M. Saska, A. Franchi
{"title":"Fast Mutual Relative Localization of UAVs using Ultraviolet LED Markers","authors":"V. Walter, M. Saska, A. Franchi","doi":"10.1109/ICUAS.2018.8453331","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453331","url":null,"abstract":"This paper proposes a new methodology for outdoor mutual relative localization of UAVs equipped with active ultraviolet markers and a suitable camera with specialized bandpass filters. Mutual relative localization is a crucial tool for formation preservation, swarming and cooperative task completion in scenarios in which UAVs share working space in small relative distances. In most current systems of compact UAV swarms the localization of particular UAVs is based on the data obtained from motion capture systems for indoor experiments or on precise RTK-GNSS data outdoor. Such an external infrastructure is unavailable in most of real multi-UAV applications and often cannot be pre-installed. To account for such situations, as well as to make the system more autonomous, reliance on onboard sensors only is desirable. In the proposed approach, we rely on ultraviolet LED markers, that emit light in frequencies that are less common in nature than the visible light or infrared radiation, especially in high intensities. Additionally, common camera sensors are sensitive to ultraviolet light, making the addition of a filter the only necessary modification, keeping the platform low-cost, which is one of the key requirements on swarm systems. This also allows for a smaller size of the markers to be sufficient, without burdening the processing resources. Thus the proposed system aspires to be an enabling technology for deployment of large swarms of possibly micro-scale aerial vehicles in real world conditions and without any dependency on an external infrastructure.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"231 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":"134089227","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: 47
Multi-Agent Distributed Coordination and Control For Aerial Systems 航空系统多智能体分布式协调与控制
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453384
S. Lyshevski
{"title":"Multi-Agent Distributed Coordination and Control For Aerial Systems","authors":"S. Lyshevski","doi":"10.1109/ICUAS.2018.8453384","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453384","url":null,"abstract":"This paper considers distributed multi-agent coordination and control to enable autonomy, tactical-level awareness, cognizance and swarm capabilities of autonomy-capable cyber-physical aerial systems. In complex dynamic environments, distributed algorithms and protocols should ensure robustness to communication and control constraints, such as bandwidth, data rate, latencies, throughput, uncertainties, etc. Decentralized coordination and control of networked nodes are researched. We solve problems in collaborative control, data management and networking of interdependent multi-agent systems. Unmanned aerial systems should ensure autonomy and cyberspace compliance. Adaptive collaborative control between agents and agents-pilot imply high-level hierarchy, distribution, micro- and macro-level decision-making, awareness, continual assurance, etc. Our results contribute to a cyclic observation-orientation-decision-action strategy in adversarial unstructured environments. We research, develop, integrate, test and evaluate practical techniques which are aimed to enable multi-domain aerial capabilities. This paper contributes to information-centric swarm solutions, researches algorithms, performs formative designs, and, experimentally validates fundamental and applied findings.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"256 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114014690","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
Cloud-SPHERE: A Security Approach for Connected Unmanned Aerial Vehicles 云球:互联无人机的安全方法
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453302
Mariana Rodrigues, D. F. Pigatto, K. Branco
{"title":"Cloud-SPHERE: A Security Approach for Connected Unmanned Aerial Vehicles","authors":"Mariana Rodrigues, D. F. Pigatto, K. Branco","doi":"10.1109/ICUAS.2018.8453302","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453302","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) have gained popularity and are current applied in many fields. They have benefited from the recent technology development and have now increased connectivity, which allows them to achieve higher levels of mission complexity and coverage. Among others, security is considered one of the greatest challenges for UAV usage acceptance from the general public, and it scales when this vehicle can communicate with other vehicles and/or systems. This paper presents Cloud-SPHERE, a security approach for unmanned vehicles to communicate and provide services securely, targeting their integration into the IoT ecosystem. The design and operation is outlined and preliminary prototyping results are presented.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"21 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132870032","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
String of Drones for Load Carrying 一串装载无人机
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453312
S. Arogeti, Dolev Yehezkel
{"title":"String of Drones for Load Carrying","authors":"S. Arogeti, Dolev Yehezkel","doi":"10.1109/ICUAS.2018.8453312","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453312","url":null,"abstract":"Carrying a load by a group of drones can be done in different configurations, which may also be changed during flight. There are many considerations when planning the applied configuration; most importantly, the number of drones should fit the weight of the load. Energy is a critical factor, because of its influence on the flight range. Previous configurations presented in literature include counteracting carrying forces, which deteriorate energy efficiency. To prevent this, we propose an innovative carrying configuration that is based on a string of drones. Each drone is connected to the drone below, by a cable, and the lowest drone is connected with the load. The paper deals with a point-load carried by a string of n drones. It shows the development of the group's equations of motion, and the design of a control law that allows the load to track a desired trajectory.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"8 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":"126958480","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: 0
A Framework for Vision-Based Multiple Target Finding and Action Using Multirotor UAVs 基于视觉的多旋翼无人机多目标发现与行动框架
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453313
Ajmal Hinas, R. Ragel, Jonathan M. Roberts, Felipe Gonzalez
{"title":"A Framework for Vision-Based Multiple Target Finding and Action Using Multirotor UAVs","authors":"Ajmal Hinas, R. Ragel, Jonathan M. Roberts, Felipe Gonzalez","doi":"10.1109/ICUAS.2018.8453313","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453313","url":null,"abstract":"This paper presents a framework for vision-based target finding and action using a multirotor UAV system. The proposed framework detects and tracks a set of ground targets by using a vision-based position estimation technique. An internal map created using the relative locations of the adjacent targets is used to overcome the vision-based position estimation error and GPS noise and drift. The framework was implemented using the Robotic Operating System (ROS) and tested in the Software in the Loop (SITL) Simulation with the Gazebo robotics simulator. The test results demonstrate that the framework is robust to drift and errors, and able to perform the intended tasks successfully.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"172 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":"121827951","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
Optimal Flight Paths over Essential Visibility Graphs 在基本可见性图上的最佳飞行路径
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453355
E. D’Amato, I. Notaro, M. Mattei
{"title":"Optimal Flight Paths over Essential Visibility Graphs","authors":"E. D’Amato, I. Notaro, M. Mattei","doi":"10.1109/ICUAS.2018.8453355","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453355","url":null,"abstract":"This paper deals with the problem of generating optimal 2D flight paths compliant with mission constraints resulting from no-fly zones and/or obstacles, and from flight mechanics limitations as minimum coordinate turn radius and maximum climb and descent angles. The optimization problem is converted into a minimum cost path search within a so called Essential Visibility Graph whose arcs and corresponding weights are obtained via an efficient branching algorithm in view of possible real-time implementations. A possible extension to 3D paths is also presented. Finally, numerical examples are reported with a discussion on the computational aspects.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"57 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":"122141550","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
Model-Based Actuator Fault Diagnosis in Multirotor UAVs* 基于模型的多旋翼无人机执行器故障诊断*
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453420
A. Hasan, T. Johansen
{"title":"Model-Based Actuator Fault Diagnosis in Multirotor UAVs*","authors":"A. Hasan, T. Johansen","doi":"10.1109/ICUAS.2018.8453420","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453420","url":null,"abstract":"This paper presents actuator fault diagnosis for multirotor UAVs based on a cascade of a nonlinear Thau observer and a linearized Kalman filter. An example of actuator fault is when one or more rotors fail to deliver the required thrust to stabilize the UAVs. To simplify the presentation, we present a standard model for a quadcopter derived from Newton-Euler equation. The nonlinear model is locally Lips-chitz due to the cross and dot products between the angular and linear velocity vectors. The adaptive observer is designed assuming the angular velocity measurement is available, such that the model becomes linear time-varying (LTV). We show if the fault is constant then the observer goes to the actual value asymptotically, while if the fault is time-varying then the difference between the observer and the actual value will only be uniformly ultimately bounded. The proposed algorithm enables the system to detect, isolate, and estimate the magnitude of the faults. Numerical simulations show the proposed method able to estimate the state and the fault accurately.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"213 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":"130293586","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: 34
Application of a customizable sensor platform to detection of atmospheric gases by UAS 可定制传感器平台在无人机大气气体检测中的应用
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453480
Andrew D. Falabella, D. Wallin, J. Lund
{"title":"Application of a customizable sensor platform to detection of atmospheric gases by UAS","authors":"Andrew D. Falabella, D. Wallin, J. Lund","doi":"10.1109/ICUAS.2018.8453480","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453480","url":null,"abstract":"The dramatic reduction in the cost of consumer unmanned aerial systems (UAS) presents an opportunity for widespread adoption of UAS across several established areas of study. We present the development of a sensor prototyping platform designed to be accessible to a wide variety of industrial, academic, and hobbyist users. We also present a low-cost gas sensor array designed and fabricated using this development platform. Use of common low-cost ceramic metal-oxide gas sensors on a UAS required the inclusion of several supplemental compensation sensors, as well as the development of hardware to mitigate non-ideal impacts of UAS motion on the sensors. The system was tested at a private wetland in Western Whatcom County, WA during autumn 2017 in an effort to detect and geographically map potential methane hotspots, as well as test the development platform. While unable to detect hotspots within a 10-meter radius, flights conducted at 1 m/s provided more consistent detection than those flown at 3 m/s. Further work is required to mitigate non-ideal effects and improve the utility of a low-cost system for data collection by UAS. The sensor development platform, however, successfully supported this test and is suitable for further prototyping.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"73 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":"127115217","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
Toward Lab Automation Drones for Micro-plate Delivery in High Throughput Systems 高通量系统中微板递送的实验室自动化无人机
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453278
Dongbin Kim, P. Oh
{"title":"Toward Lab Automation Drones for Micro-plate Delivery in High Throughput Systems","authors":"Dongbin Kim, P. Oh","doi":"10.1109/ICUAS.2018.8453278","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453278","url":null,"abstract":"In this paper, the author presents a lab automation drone concept design for high throughput systems(HTS). A 6 degree-of-freedom (6-DOF) parallel manipulator and parallel sensorized gripper are affixed together to a rotorcraft. The manipulator-gripper allows dexterously delivery of micro-plates broadly used for sample-testing in high throughput systems. For testing and evaluation, the concept design is deployed in two pick-and-place experiments using micro-plates. First the manipulator-gripper system is attached to a gantry crane system, then it is tested on a quadcopter under manual flight within motion capture space. The results demonstrate the viability of the design and point towards future work on stability controls for autonomous flight.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"136 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":"127400483","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: 3
Vision-based detection of non-cooperative UAVs using frame differencing and temporal filter 基于帧差分和时域滤波的非合作无人机视觉检测
2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453372
C. Briese, Andreas Seel, F. Andert
{"title":"Vision-based detection of non-cooperative UAVs using frame differencing and temporal filter","authors":"C. Briese, Andreas Seel, F. Andert","doi":"10.1109/ICUAS.2018.8453372","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453372","url":null,"abstract":"In this paper, we introduce a fast and lightweight method based on several combined filters to detect and track an object in images recorded by a moving camera. Assuming we know nothing about the intruders shape, color or other geometric appearance, we focus with our work on change detection in the image, caused by movement of the object against the background. The method is evaluated with image data from experimental flights with two unmanned aircraft performing different flight maneuvers. The correctness of the intruder detection is evaluated by comparison with hand labeled ground truth from different sequences of the test flight. Additionally, we evaluate the performance of our implementation on architectures with low computational power with regard to a practical onboard solution for small unmanned aerial vehicels (UAV).","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"11 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":"129104407","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
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