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2013 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

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Experimental validation of a helicopter autopilot: Time-varying trajectory tracking 直升机自动驾驶仪的实验验证:时变轨迹跟踪
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564713
Bryan Godbolt, N. Vitzilaios, Christian Bergen, Alan Francis Lynch
{"title":"Experimental validation of a helicopter autopilot: Time-varying trajectory tracking","authors":"Bryan Godbolt, N. Vitzilaios, Christian Bergen, Alan Francis Lynch","doi":"10.1109/ICUAS.2013.6564713","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564713","url":null,"abstract":"Research in helicopter UAV control is inherently based on testing flight performance in the field. This paper extends preliminary flight test results previously published by the authors and provides a more thorough experimental validation of the helicopter's motion control. A new input model, which includes velocity dependence in the main rotor thrust, is incorporated in the control. Experimental results for translational position control are presented using a number of reference trajectories.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"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":"126592155","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: 5
Event-triggered nonlinear control for attitude stabilization of a quadrotor 事件触发的四旋翼飞行器姿态稳定非线性控制
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564736
J. Guerrero-Castellanos, J. J. Téllez-Guzmán, S. Durand, N. Marchand, J. Alvarez-Muñoz
{"title":"Event-triggered nonlinear control for attitude stabilization of a quadrotor","authors":"J. Guerrero-Castellanos, J. J. Téllez-Guzmán, S. Durand, N. Marchand, J. Alvarez-Muñoz","doi":"10.1109/ICUAS.2013.6564736","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564736","url":null,"abstract":"Event-triggered control is a resource-aware sampling strategy that updates the control value only when a certain condition is satisfied, which denotes event instants. Such a technique allows to reduce the control computational cost and communications. In this paper, a quaternion-based feedback is developed for event-triggered attitude stabilization of a quadrotor mini-helicopter. The feedback is derived from the universal formula for event-triggered stabilization of general nonlinear systems affine in the control. The proposed feedback ensures the asymptotic stability to the desired attitude. Real-time experiments are carried out in order to show the convergence of the quadrotor states to the desired attitude as well as the robustness with respect to external disturbances. Results show that the proposed control can reduce by 80 % the communications of the embedded system without sacrificing performance of the whole system. To the best of the authors' knowledge, this is the first time that a nonlinear event-triggered controller is experimentally applied to the attitude stabilization of an unmanned aircraft system.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"19 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":"127809984","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: 17
Control surface fault diagnosis with specified detection probability — Real event experiences 控制面故障诊断与指定的检测概率-真实事件经验
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564729
S. Hansen, M. Blanke
{"title":"Control surface fault diagnosis with specified detection probability — Real event experiences","authors":"S. Hansen, M. Blanke","doi":"10.1109/ICUAS.2013.6564729","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564729","url":null,"abstract":"Diagnosis of actuator faults is crucial for aircraft since loss of actuation can have catastrophic consequences. For autonomous aircraft the steps necessary to achieve fault tolerance is limited when only basic and non-redundant sensor and actuators suites are present. Through diagnosis that exploits analytical redundancies it is, nevertheless, possible to cheaply enhance the level of safety. This paper presents a method for diagnosing control surface faults by using basic sensors and hardware available on an autonomous aircraft. The capability of fault diagnosis is demonstrated obtaining desired levels of false alarms and detection probabilities. Self-tuning residual generators are employed for diagnosis and are combined with statistical change detection to form a setup for robust fault diagnosis. On-line estimation of test statistics is used to obtain a detection threshold and a desired false alarm probability. A data based method is used to determine the validity of the methods proposed. Verification is achieved using real data and shows that the presented diagnosis method is efficient and could have avoided incidents where faults led to loss of aircraft.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 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":"132332100","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: 8
A solution for the goal position assignment in formation problem 编队问题中目标位置分配的一种解
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564769
Luis Garcfa-Delgado, R. Gómez-Fuentes, A. Garcfa-Juarez, A. L. Leal-Cruz, D. Berman-Mendoza, A. Vera-Marquina, A. Rojas-Hernández
{"title":"A solution for the goal position assignment in formation problem","authors":"Luis Garcfa-Delgado, R. Gómez-Fuentes, A. Garcfa-Juarez, A. L. Leal-Cruz, D. Berman-Mendoza, A. Vera-Marquina, A. Rojas-Hernández","doi":"10.1109/ICUAS.2013.6564769","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564769","url":null,"abstract":"This paper is focused on the development of one methodology to assign the corresponding goal position for a group of vehicles in a proper manner, starting from any initial configuration and one established formation shape. The assignment methodology will guarantee that the formation will be reached in a minimum period of time and without collision risk. Hungarian algorithm was used as combinatorial optimization algorithm, and this methodology requires a cost matrix. In order to show the optimal behavior of the proposed cost matrix, three approaches of cost matrix were evaluated. Simulations of quad-rotor formations were carried out to analyze approaches behavior, the formation was based on potential functions and the control law for each vehicle was based on nested saturation.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 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":"134302469","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
A multi-layered approach for site detection in UAS emergency landing scenarios using geometry-based image segmentation 基于几何图像分割的UAS紧急降落场景多层次站点检测方法
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564710
L. Mejias, D. Fitzgerald
{"title":"A multi-layered approach for site detection in UAS emergency landing scenarios using geometry-based image segmentation","authors":"L. Mejias, D. Fitzgerald","doi":"10.1109/ICUAS.2013.6564710","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564710","url":null,"abstract":"This paper presents an alternative approach to image segmentation by using the spatial distribution of edge pixels as opposed to pixel intensities. The segmentation is achieved by a multi-layered approach and is intended to find suitable landing areas for an aircraft emergency landing. We combine standard techniques (edge detectors) with novel developed algorithms (line expansion and geometry test) to design an original segmentation algorithm. Our approach removes the dependency on environmental factors that traditionally influence lighting conditions, which in turn have negative impact on pixel-based segmentation techniques. We present test outcomes on realistic visual data collected from an aircraft, reporting on preliminary feedback about the performance of the detection. We demonstrate consistent performances over 97% detection rate.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"40 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":"131092850","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: 29
Anticipating stochastic observation loss during optimal target tracking by a small Aerial Vehicle 预测小型飞行器最优目标跟踪过程中的随机观测损失
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564700
Ross P. Anderson, D. Milutinović
{"title":"Anticipating stochastic observation loss during optimal target tracking by a small Aerial Vehicle","authors":"Ross P. Anderson, D. Milutinović","doi":"10.1109/ICUAS.2013.6564700","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564700","url":null,"abstract":"Motivated by tracking problems involving a fixed-speed, fixed-altitude Unmanned Aerial Vehicle (UAV) that should maintain a nominal distance from ground target, an optimal feedback control is rigorously developed to anticipate both unknown future target trajectories and the possibility for the loss of observations due to sensory interference. Stochasticity is introduced the problem by assuming that the target motion can be modeled as a random walk, and by assuming that the observation times of the target are exponentially distributed. A Bellman equation based on an approximating Markov chain that is consistent with the stochastic kinematics is used to compute a control policy that minimizes the expected value of a cost function based on a nominal UAV-target distance. Numerical simulations illustrate the benefit to anticipating for stochastic observation loss.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"18 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":"132072910","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: 9
Onboard monocular vision for landing of an MAV on a landing site specified by a single reference image 由单个参考图像指定的着陆点上的MAV的机载单目视觉着陆
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564704
Shaowu Yang, S. Scherer, Konstantin Schauwecker, A. Zell
{"title":"Onboard monocular vision for landing of an MAV on a landing site specified by a single reference image","authors":"Shaowu Yang, S. Scherer, Konstantin Schauwecker, A. Zell","doi":"10.1109/ICUAS.2013.6564704","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564704","url":null,"abstract":"This paper presents a real-time monocular vision solution for MAVs to autonomously search for and land on an arbitrary landing site. The autonomous MAV is provided with only one single reference image of the landing site with an unknown size before initiating this task. To search for such landing sites, we extend a well-known visual SLAM algorithm that enables autonomous navigation of the MAV in unknown environments. A multi-scale ORB feature based method is implemented and integrated into the SLAM framework for landing site detection. We use a RANSAC-based method to locate the landing site within the map of the SLAM system, taking advantage of those map points associated with the detected landing site. We demonstrate the efficiency of the presented vision system in autonomous flight, and compare its accuracy with ground truth data provided by an external tracking system.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"19 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":"132397071","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: 17
On the development of a small hand-held multi-UAV platform for surveillance and monitoring 一种小型手持式多无人机监视和监控平台的发展
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564715
G. Avellar, G. D. Thums, R. R. Lima, P. Iscold, Leonardo A. B. Tôrres, G. Pereira
{"title":"On the development of a small hand-held multi-UAV platform for surveillance and monitoring","authors":"G. Avellar, G. D. Thums, R. R. Lima, P. Iscold, Leonardo A. B. Tôrres, G. Pereira","doi":"10.1109/ICUAS.2013.6564715","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564715","url":null,"abstract":"This paper addresses the ongoing process of development of a small hand-held multiple unmanned aerial vehicle platform for surveillance and monitoring. The project cover all phases of development, from aerodynamic design and mechanical assembly, through fine tuning low level control loops and design of an attitude and heading reference system, up to implementation of navigation algorithms and finally flight testing. Commercial hardware is used to speed up development, allowing the team responsible for implementing the navigation algorithms to execute and test while the team responsible for the aerodynamics and electronics can design and compare results.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"89 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":"114254850","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: 7
Randomized approaches and adaptive control for quadrotor UAVs 四旋翼无人机随机化方法与自适应控制
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564721
E. Capello, F. Quagliotti, R. Tempo
{"title":"Randomized approaches and adaptive control for quadrotor UAVs","authors":"E. Capello, F. Quagliotti, R. Tempo","doi":"10.1109/ICUAS.2013.6564721","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564721","url":null,"abstract":"In this paper a systematic mixed deterministic-randomized approach for adaptive filter design is presented. This method has two advantages: (i) it is a computational efficient algorithm for the deterministic parameters and (ii) we can design fixed order controllers because we follow a randomization approach. Different filter forms are selected to prove the effectiveness of this algorithm and the obtained results are applied to a multi rotor UAV. Both linear and experimental models are analyzed. With this filter the designed controller permits to minimize the noise due to the coupling between the control axes. This design is useful to reduce the set up time of the filter when the platform to be controlled is changed.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"151 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":"123296207","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
A survey of optical flow techniques for UAV navigation applications 无人机导航中的光流技术综述
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564752
Haiyang Chao, Yu Gu, M. Napolitano
{"title":"A survey of optical flow techniques for UAV navigation applications","authors":"Haiyang Chao, Yu Gu, M. Napolitano","doi":"10.1109/ICUAS.2013.6564752","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564752","url":null,"abstract":"Optical flow has been widely used by insects and birds to support navigation functions. Such information has appealing capabilities for application to small or micro unmanned aerial vehicles (UAVs), especially for navigation and collision avoidance in urban or indoor areas. The purpose of this paper is to provide a survey of existing optical flow techniques for UAV navigation applications. Detailed comparisons are made among different optical-flow-aided navigation solutions with emphasis on the sensor hardware as well as optical flow motion models. A summary of current research status and future research directions are further discussed.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"66 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":"122409391","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: 51
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