2013 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第6页

Cooperative source seeking and contour mapping of a diffusive signal field by formations of multiple UAVs 多无人机编队扩散信号场的协同寻源与等值线映射

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564671

Jinlu Han, Y. Chen

引用次数: 11

A hyper-redundant manipulator for Mobile Manipulating Unmanned Aerial Vehicles 一种用于移动操纵无人机的超冗余机械手

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564784

T. Danko, P. Oh

{"title":"A hyper-redundant manipulator for Mobile Manipulating Unmanned Aerial Vehicles","authors":"T. Danko, P. Oh","doi":"10.1109/ICUAS.2013.6564784","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564784","url":null,"abstract":"Due to their ability to navigate in 6 degree of freedom space, Unmanned Aerial Vehicles (UAVs) can access many locations that are inaccessible to ground vehicles. While mobile manipulation is an extremely active field of research for ground traveling host platforms, UAVs have historically been used for applications that avoid interaction with their environment at all costs. Recent efforts have been aimed at equipping UAVs with dexterous manipulators in an attempt to allow these Mobile Manipulating UAVs (MM-UAVs) to perform meaningful tasks such as infrastructure repair, disaster response, casualty extraction, and cargo resupply. Among many challenges associated with the successful manipulation of objects from a UAV host platform include: a) the manipulator's movements and interaction with objects negatively impact the host platform's stability and b) movements of the host platform, even when using highly accurate motion capture systems for position control, translate to poor end effector position control relative to fixed objects. To address these two problems, we propose the use of a hyper-redundant manipulator for MM-UAV applications. The benefits of such a manipulator are that it: a) can be controlled in such a way that links are moved within the arm's free space to help reduce negative impacts on the host platform's stability and b) the redundancy of the arm affords a highly reachable workspace for the end effector, allowing the end effector to track environmental objects smoothly despite host platform motions. This paper describes the design of a hyper-redundant manipulator suitable for studying its applicability to MM-UAV applications and provides preliminary results from its initial testing while mounted on a stationary scaffold.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"24 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":"115536568","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: 24

A novel fast and accurate algorithm for Terrain Referenced UAV localization 基于地形的无人机定位新算法

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564746

Orhan Eroglu, G. Yilmaz

{"title":"A novel fast and accurate algorithm for Terrain Referenced UAV localization","authors":"Orhan Eroglu, G. Yilmaz","doi":"10.1109/ICUAS.2013.6564746","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564746","url":null,"abstract":"Recently, unmanned aerial vehicles (UAVs) have become one of the most popular and promising means for both military and civilian posts and academic research areas. Localization of the UAVs and persistent tracking of a UAV have vital importance to provide a UAV with navigation information and help to cope with getting lost permanently. Indeed, Inertial Navigation System (INS) and Global Positioning System (GPS) seem to be adequate for navigation of UAVs. However, an alternative augmented navigation system for UAVs should be taken into consideration since INS has accumulated errors and GPS always has the possibility of jamming and satellite signal loss. Terrain Referenced Navigation (TRN) could be a good alternative as a decision support system for these main systems. This study aims to detect the location of a lost or GPS-disabled UAV throughout a planned flight by using only the terrain data. In addition, assumptions and limitations are minimized for the sake of simplifying the process to apply this methodology on a real UAV in the future, e.g. flight through all directions with physically possible turn rates is allowed. In order to provide data of the terrain, Digital Elevation Model (DEM) of the flight region with 30m resolution is exploited. The proposed method is based on searching and matching the collected elevation values of the terrain below UAV within the DEM and makes use of simulation techniques to test the accuracy and performance. The whole algorithm utilizes a sequence of elevation values with a predefined length (i.e. profile). Mainly, all possible profiles are generated before the flight and stored in a huge search space. We identify, sort and classify these elevation profiles in order to perform search operations in a small subset of the huge set. During the flight, a sequence of terrain elevations, which is computed with the help of radar and barometric altimeter measurements, is searched within a small neighborhood of corresponding profile set.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"13 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114090240","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

GPS/INS/optic flow data fusion for position and Velocity estimation GPS/INS/光流数据融合的位置和速度估计

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564724

D. Mercado, G. F. Colunga, Pedro Castillo, Juan, Antonio Escareño, Rogelio Lozano

引用次数: 35

Consensus control for a class of second-order multi-agent systems: An iterative learning approach 一类二阶多智能体系统的共识控制:迭代学习方法

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564768

Jiantao Shi, Xiao He, Zidong Wang, D. Zhou

引用次数: 7

A HIL testbed for small unmanned helicopter's initial controller gain tuning 小型无人直升机初始控制器增益调谐HIL试验台

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564712

Sepehr P. Khaligh, Alejandro Martínez, F. Fahimi, C. Koch

{"title":"A HIL testbed for small unmanned helicopter's initial controller gain tuning","authors":"Sepehr P. Khaligh, Alejandro Martínez, F. Fahimi, C. Koch","doi":"10.1109/ICUAS.2013.6564712","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564712","url":null,"abstract":"A Hardware-In-The-Loop (HIL) testbed design for small unmanned helicopters is described. The testbed provides a safe and low-cost platform to implement control algorithms and tune the control gains in a controlled environment. Specifically, it allows for testing the robustness of the controller to external disturbances by emulating the hover condition. A 6-DOF nonlinear mathematical model of the helicopter has been validated in real flight tests. This model is implemented in real-time to estimates the states of the helicopter which are then used to determine the actual control signals on the testbed. A damping system with a negligible parasitic effect on the dynamics of the helicopter around hover is incorporated into the testbed design to minimize the structural stress on the fuselage in the case of controller failure or a subsystem malfunction. Three experiments including the longitudinal, lateral and heading control tests are performed. Experimental results show that the HIL testbed allows for designing a controller which is robust to the external disturbances, and achieves an accuracy of ±2cm in the position control along the longitudinal and lateral axes in hover, and that of ±1deg around the yaw axis on the heading trajectory tracking.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"54 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":"122765043","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

Omnidirectional vision based surveillance with the spincopter 用spincopter进行全向视觉监视

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564705

Tomislav Haus, M. Orsag, S. Bogdan

引用次数: 5

A survey on multiple unmanned vehicles formation control and coordination: Normal and fault situations 多无人驾驶车辆编队控制与协调研究:正常与故障情况

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564798

Youmin Zhang, H. Mehrjerdi

引用次数: 89

A different view to future use of unmanned aerial vehicles 对未来无人机使用的不同看法

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564686

Mustafa Ozartan, Serkan Akgul, Barbaros Akca

引用次数: 2

Decentralized strategy to ensure information propagation in area monitoring missions with a team of UAVs under limited communications 分散策略，以确保在有限通信条件下与一队无人机进行区域监测任务中的信息传播

2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564734

J. J. Acevedo, B. Arrue, J. Díaz-Báñez, I. Ventura, I. Maza, A. Ollero

{"title":"Decentralized strategy to ensure information propagation in area monitoring missions with a team of UAVs under limited communications","authors":"J. J. Acevedo, B. Arrue, J. Díaz-Báñez, I. Ventura, I. Maza, A. Ollero","doi":"10.1109/ICUAS.2013.6564734","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564734","url":null,"abstract":"This paper presents the decentralized strategy followed to ensure information propagation in area monitoring missions with a fleet of heterogeneous UAVs with limited communication range. The goal of the team is to detect pollution sources over a large area as soon as possible. Hence the elapsed time between two consecutive visits should be minimized. On the other hand, in order to exploit the capabilities derived from having a fleet of UAVs, an efficient area partition is performed in a distributed manner using a one-to-one coordination schema according to the limited communication ranges. Another requirement is to have the whole team informed about the location of the new pollution sources detected. This requirement is challenging because the communication range of the vehicles is small compared to the area covered in the mission. Sufficient and necessary conditions are provided to guarantee one-to-one UAV communication in grid-shape area partitions, allowing to share any new information among all the members of the team, even under strong communication constraints. The proposed decentralized strategy has been simulated to confirm that fulfils all the goals and requirements and has been also compared to other patrolling strategies.","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":"134065684","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: 41