2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)最新文献_第2页

Pitch-decoupled VTOL/FW aircraft: First flights 俯仰解耦VTOL/FW飞机:首飞

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101676

J. Apkarian

引用次数: 7

Real-time aerial image mosaicing using hashing-based matching 基于哈希匹配的实时航拍图像拼接

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101658

Roberto de Lima, J. Martínez-Carranza

引用次数: 3

Self-triggered time coordinated deployment strategy for multiple relay UAVs to work as a point-to-point communication bridge 多中继无人机作为点对点通信桥的自触发时间协调部署策略

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101634

J. Braga, R. Jain, Antonio Pedro Aguiar, J. D. de Sousa

{"title":"Self-triggered time coordinated deployment strategy for multiple relay UAVs to work as a point-to-point communication bridge","authors":"J. Braga, R. Jain, Antonio Pedro Aguiar, J. D. de Sousa","doi":"10.1109/RED-UAS.2017.8101634","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101634","url":null,"abstract":"The use of multiple heterogeneous, low-cost, small Unmanned Aerial Vehicles (UAVs) as a tool in several application domains is becoming increasingly important. One critical aspect to enable the use of such vehicles is the coordination/planning system, whose task complexity increases with the number of vehicles and the communications constraints that arise due to their small size and large distances. In this work, we propose a control architecture for a platoon of relay UAVs that are independent of the coordination system. The platoon task consists in interconnecting the communication link between the possibly mobile command station and a UAV in a mission. The relays are actively driven to deploy, create a network and maintain a desired Quality-of-Service (QoS) level, defined in this paper. We present an architecture that is composed by a waypoint generator based on the network QoS and a Time Coordinated Path Following (TCPF) controller with a method to reduce the frequency of information exchange between the relay UAVs, through the use of a self-triggered control strategy. Exploiting this architecture, it is possible to plan a mission operation for a UAV without the need of considering vehicle-to-command-station communication constraints that will be satisfied by the introduction of the relay-UAVs platoon. Simulation results are provided to illustrate the efficacy of the developed strategy. The self-triggered approach results in significant reduction of information exchange between the relay UAVs, while maintaining the user desired network QoS.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134138579","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 vision-based approach for autonomous landing 一种基于视觉的自主着陆方法

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101655

A. Cabrera-Ponce, J. Martínez-Carranza

引用次数: 6

Regulation analysis and new concept for a cloud-based UAV supervision system in urban environment 城市环境下基于云的无人机监控系统的监管分析与新概念

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101649

E. Capello, Matteo Dentis, Laura Novaro Mascarello, Stefano Primatesta

引用次数: 14

Blockchain-based protocol of autonomous business activity for multi-agent systems consisting of UAVs 基于区块链的无人机多智能体自主业务活动协议

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101648

A. Kapitonov, Sergey Lonshakov, Aleksandr Krupenkin, Ivan Berman

引用次数: 97

Metric monocular SLAM and colour segmentation for multiple obstacle avoidance in autonomous flight 自主飞行中多障碍物避障的度量单目SLAM和颜色分割

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101672

L. Rojas-Perez, J. Martínez-Carranza

{"title":"Metric monocular SLAM and colour segmentation for multiple obstacle avoidance in autonomous flight","authors":"L. Rojas-Perez, J. Martínez-Carranza","doi":"10.1109/RED-UAS.2017.8101672","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101672","url":null,"abstract":"We propose an obstacle avoidance system based on image segmentation of the obstacles to be avoided in combination with a control policy for autonomous flight for which the MAV's position is obtained through a visual SLAM approach. The latter, however, utilises images captured from a monocular camera onboard the MAV, hence pose and map can be only obtained up to a scale factor. To address this, we incorporate metric via fixating the MAV's height and its onboard camera angle, which is set at 30 degrees in downwards direction to the floor. This enabled us to obtain a depth image of the floor observed by the camera that can be recorded only once and passed to a RGB-Depth SLAM system. Thus, MAV's pose can be estimated with metric, which is then considered into the avoidance rules. We carried out 36 flights with an 86 % of successful flights with no collisions, where obstacles were placed in different settings. Our approach is intended to solve one of the missions in the Indoors Category of the International Micro Air Vehicles Conference and Flight Competitions (IMAV) 2017, but we are certain that our approach could be extended to more general scenarios.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128226594","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: 20

Group control and string stability for UAV kinematic and dynamic models 无人机运动学与动力学模型的群控与弦稳定性

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101650

S. Arogeti, A. Ailon

引用次数: 1

Path tracking for waypoint lists based on a pure pursuit method for fixed wing UAS 基于纯追踪方法的固定翼无人机航点列表路径跟踪

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101643

F. Balampanis, Antonio Pedro Aguiar, I. Maza, A. Ollero

{"title":"Path tracking for waypoint lists based on a pure pursuit method for fixed wing UAS","authors":"F. Balampanis, Antonio Pedro Aguiar, I. Maza, A. Ollero","doi":"10.1109/RED-UAS.2017.8101643","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101643","url":null,"abstract":"This paper introduces a method for path tracking based on a basic pure pursuit (PP) algorithmic strategy. To increase the robustness and reliability in coverage and tracking tasks using multiple Unmanned Aerial Systems (UAS), several criteria must be taken into consideration, like safe separation between the vehicles and complete area coverage based on their on board sensors. In this context, we propose a guidance strategy where initially a straight line path between previously calculated waypoints for coverage tasks is calculated. Then, for each next turn of the vehicle, a goal point is chosen in order to minimize a deviation error from the straight line path and the current position of the vehicle. In order to calculate this point, an offline lookup table is created, which correlates the underlying control model with the turn angles; during flight, the best value is chosen for each next turn. The algorithm has been tested in different scenarios and against a robust simulation framework by the means of Software-in-the-Loop (SITL). The results show that this strategy manages to provide a computationally inexpensive method for the goal points of the pure pursuit algorithm and minimizes the deviation from the straight line trajectories of the waypoint planning.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"12 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120853812","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

Frequency channel assignment for networked UAVs using a hedonic game 基于享乐游戏的网络无人机信道分配

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101663

Hyo-Sang Shin, Inmo Jang, A. Tsourdos

引用次数: 13