2013 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第10页

An efficient Spline-based RRT path planner for non-holonomic robots in cluttered environments 杂乱环境下非完整机器人基于样条的RRT路径规划方法

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564701

Kwangjin Yang

引用次数: 30

An architecture for automatic tuning of the navigation system of Unmanned Aerial Vehicles 无人机导航系统的自动调谐体系结构

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564737

A. Catena, C. D. Melita, G. Muscato

引用次数: 2

Improving hovering performance of tethered unmanned helicopters with nonlinear control strategies 非线性控制策略改善系留无人直升机悬停性能

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564719

Luis A. Sandino, M. Béjar, K. Kondak, A. Ollero

引用次数: 10

A general purpose configurable navigation controller for micro aerial multirotor vehicles 微型航空多旋翼飞行器通用可配置导航控制器

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564733

J. Pestana, Ignacio Mellado-Bataller, Changhong Fu, Jose Luis Sanchez-Lopez, I. Mondragón, P. Campoy

{"title":"A general purpose configurable navigation controller for micro aerial multirotor vehicles","authors":"J. Pestana, Ignacio Mellado-Bataller, Changhong Fu, Jose Luis Sanchez-Lopez, I. Mondragón, P. Campoy","doi":"10.1109/ICUAS.2013.6564733","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564733","url":null,"abstract":"In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on “Best Automatic Performance - IMAV 2012” and the second overall prize in the participating category “Indoor Flight Dynamics - Rotary Wing MAV”. Most of the code related to the present work is available as two open-source projects hosted in GitHub.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"14 26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117067350","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: 12

Improvement of power efficiency in flapping-wing MAVs through a semi-passive motion control approach 通过半被动运动控制方法提高扑翼飞行器的动力效率

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564755

Hosein Mahjoubi, Katie Byl

{"title":"Improvement of power efficiency in flapping-wing MAVs through a semi-passive motion control approach","authors":"Hosein Mahjoubi, Katie Byl","doi":"10.1109/ICUAS.2013.6564755","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564755","url":null,"abstract":"Among unmanned aerial systems (UASs), flapping-wing micro aerial vehicles (MAVs) are perhaps the newest field of research. Inspired by small size and agile flight of insects and birds, these vehicles offer a great potential for applications such as reconnaissance, surveillance, search and rescue, mapping, etc. However, practicality of these systems still depends on how we overcome various challenges ranging from control methodology to morphological construction and power supply. Further inspiration from solutions in nature is one way of approaching such problems. Through modeling synchronous muscles in insects, we have previously shown that manipulation of mechanical impedance properties at wing joints can be a very efficient method for controlling lift and thrust production in flapping-wing MAVs. In our current work, we will investigate the power requirements of this control approach through simulated flight experiments. The results indicate that these requirements are considerably lower compared to when conventional control strategies - methods that often rely on changing stroke properties such as frequency or magnitude of the flapping motion - are employed. With less power demands, we believe our proposed control strategy is able to significantly improve flight time in future flapping-wing MAVs.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127810868","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

Mathematical modeling and control of a hexacopter 六旋翼机的数学建模与控制

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564793

Andrea Alaimo, V. Artale, C. Milazzo, A. Ricciardello, L. Trefiletti

引用次数: 85

Decentralized learning-based planning for multiagent missions in the presence of actuator failures 执行器失效时多智能体任务的分散学习规划

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564803

N. K. Ure, Girish V. Chowdhary, Yu Fan Chen, M. Cutler, J. How, J. Vian

{"title":"Decentralized learning-based planning for multiagent missions in the presence of actuator failures","authors":"N. K. Ure, Girish V. Chowdhary, Yu Fan Chen, M. Cutler, J. How, J. Vian","doi":"10.1109/ICUAS.2013.6564803","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564803","url":null,"abstract":"We consider the problem of high-level learning and decision making to enable multi-agent teams to autonomously tackle complex, large-scale missions, over long time periods in the presence of actuator failures. Agent health, measured by the functionality of its subsystems such as actuators, can change over time in long-duration missions and may depend on environmental states. This variability in agent health leads to uncertainty that can lead to inefficient plans, and in some cases even mission failure. The joint learning-planing problem becomes particularly challenging in a heterogeneous team where each agent may have a different correlation between their individual states and the state of the environment. We present a learning based planning framework for heterogeneous multiagent missions with health uncertainty that uses online learned probabilistic models of agent health. A decentralized incremental Feature Dependency Discovery algorithm is developed to enable agents to collaborate to efficiently learn representations of the uncertainty models across heterogeneous agents. The learned models of actuator failures allow our approach to plan in anticipation of potential health degradation. We show through large-scale planning under uncertainty simulations and flight experiments with state-dependent actuator and fuel-burnrate uncertainty that our planning approach can outperform planners that do not account for heterogeneity between agents.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"84 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132147999","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

A hardware-in-the-loop test rig for aerial manipulation 用于空中操纵的硬件在环测试平台

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564785

C. Korpela, M. Orsag, Youngbum Jun, Pareshkumar Brahmbhatt, P. Oh

{"title":"A hardware-in-the-loop test rig for aerial manipulation","authors":"C. Korpela, M. Orsag, Youngbum Jun, Pareshkumar Brahmbhatt, P. Oh","doi":"10.1109/ICUAS.2013.6564785","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564785","url":null,"abstract":"A hardware-in-the-loop test rig is presented to bridge the gap between basic aerial manipulation research and the ability of flying robots to perform tasks such as door opening, bridge repair, agriculture care, and other applications requiring interaction with the environment. Unmanned aerial vehicles have speed and mobility advantages over ground vehicles and can operate in 3-dimensional workspaces. In particular, the usefulness of these capabilities is highlighted in areas where ground robots cannot reach or terrains they are unable to navigate. However, most UAVs operating in nearearth or indoor environments still do not have the payload capabilities to support multi-degree of freedom manipulators. We present a rotorcraft emulation environment using a 7 degree of freedom manipulator. Since UAVs require significant setup time and to avoid potential crashes, our test and evaluation environment provides repeatable experiments and captures reactionary forces experienced during ground interaction. Our preliminary results indicate that we can accurately model, emulate, and control our aircraft-manipulator system during both arm actuation and interacting with target objects.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132433704","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

Particle Swarm Optimization for collision-free 4D trajectory planning in Unmanned Aerial Vehicles 基于粒子群算法的无人机无碰撞四维轨迹规划

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564702

D. Alejo, J. A. Cobano, G. Heredia, A. Ollero

{"title":"Particle Swarm Optimization for collision-free 4D trajectory planning in Unmanned Aerial Vehicles","authors":"D. Alejo, J. A. Cobano, G. Heredia, A. Ollero","doi":"10.1109/ICUAS.2013.6564702","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564702","url":null,"abstract":"This paper presents a new system which automatically identifies conflicts between multiple UAVs (Unmanned Aerial Vehicles) and proposes the most effective solution considering the available computation time. The system detects conflicts using an algorithm based on axis-aligned minimum bounding box and resolves them cooperatively using a collision-free trajectory planning algorithm based on a simple one-at-a-time strategy to quickly compute a feasible but non-optimal initial solution and a stochastic optimization technique named Particle Swarm Optimization (PSO) to improve the initial solution. PSO modifies the 4D trajectories of the UAVs with an overall minimum cost. Determining optimal trajectories with short time intervals during the execution of the mission is not feasible, hence an anytime approach using PSO is applied. This approach yields trajectories whose quality improves when available computation time increases. Thus, the method could be applied in realtime depending on the available computation time. The method has been validated with simulations in scenarios with multiple UAVs in a common workspace.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128719660","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: 40

ADS-B for small Unmanned Aerial Systems: Case study and regulatory practices 小型无人机系统的ADS-B:案例研究和监管实践

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564684

B. Stark, Brennan Stevenson, Y. Chen

{"title":"ADS-B for small Unmanned Aerial Systems: Case study and regulatory practices","authors":"B. Stark, Brennan Stevenson, Y. Chen","doi":"10.1109/ICUAS.2013.6564684","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564684","url":null,"abstract":"Sense and Avoid Systems (SAASs) are one of the last technical challenges for the safe integration of Unmanned Aerial Systems (UASs) into the U.S. National Airspace System (NAS). While military applications still dominate UAS use, civilian UAS usage is expected to grow dramatically over the next several years. However with this growth, there are significant air safety concerns. SAASs have been proposed as potential solutions for air traffic collisions and obstacle avoidance, but the technical implementations have been largely unsatisfactory. The development of the Next Generation Air Transportation System (NextGen) surveillance tracking technology known as Automatic Dependent Surveillance-Broadcast (ADS-B) has been proposed as one of the potential solutions. This technology, mandated to be in all aircraft by 2020, is designed to improve situational awareness for pilots and improve air traffic management but may also be utilized by UASs. However there remains implementation issues and regulatory issues, especially for small UASs (SUASs) that are expected to be used significantly by civilian operators. This paper examines the use of ADS-B in future SAASs and their implementations in SUAS for domestic use.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130941814","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: 57