2022 IEEE International Conference on Unmanned Systems (ICUS)最新文献_第3页

Data-driven Fast Terminal Sliding Mode Formation Control of Unknown Multi-UAVs 未知多无人机数据驱动快速终端滑模编队控制

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986866

Zijie Dai, Fuqiang Wang, Dong Nan, Yongpeng Weng

引用次数: 0

Grouped Attack Strategy of Multi-UAV Imitating Hawk Hunting Behaviors 多架无人机模仿鹰狩猎行为的分组攻击策略

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986759

Lin Bin, Chen Wei, H. Duan

引用次数: 0

Connectivity Analysis of Multi-UAV Communication Systems with Simplified Fresnel Propagation Model in Urban Scenarios 基于简化菲涅耳传播模型的多无人机通信系统城市连通性分析

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9987157

Jiaqi Chen, Zhiyong Du, Shiyu Li

{"title":"Connectivity Analysis of Multi-UAV Communication Systems with Simplified Fresnel Propagation Model in Urban Scenarios","authors":"Jiaqi Chen, Zhiyong Du, Shiyu Li","doi":"10.1109/ICUS55513.2022.9987157","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9987157","url":null,"abstract":"The rapidly changing propagation environment during flight is a huge challenge for multi-UAV systems. The wireless channel changing with the propagation environment has an important impact on the information sharing between UAVs, especially in urban scenario. However, the recent research on the statistical properties of Air to Air (A2A) channels cannot be directly used in the control link connectivity analysis due to the complexity. In this paper, a simplified A2A channel model based on Fresnel propagation theory is proposed and applied to investigate the connectivity of communication topologies for control information sharing in multi-UAV systems. Considering UAV flying in 3D space, the impact of 3D blockages is focused on in this paper. Theoretical results show that the average strength of edges decreases with the increase of the density of buildings, which implies that the connectivity between UAVs deteriorate during the UAV flight from the suburbs to the city. What's more, the connectivity of the multi-UAV systems is weakened with the increase of the building density and increased with the increase of the size of multi-UAV systems.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130320382","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

UAVDet: A Lightweight Fast Detection Model for Marine Ships based on Edge Mobile Devices 基于边缘移动设备的船舶轻型快速检测模型UAVDet

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986753

Tao Fu, Yanhua Pang, Bo Chen

{"title":"UAVDet: A Lightweight Fast Detection Model for Marine Ships based on Edge Mobile Devices","authors":"Tao Fu, Yanhua Pang, Bo Chen","doi":"10.1109/ICUS55513.2022.9986753","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986753","url":null,"abstract":"Recently, Unmanned Aerial Vehicles have been widely used in the fields of water traffic supervision and maritime sovereignty inspection, becoming an important means of data acquisition. It is crucial to apply deep learning-based target detection technology to UAV edge devices. Traditional detectors are often underperformed when deployed directly to UAVs. One reason is that the amount of UAV imagery data is often limited and insufficient to support the training of deep learning algorithms. The second is that deep learning-based detectors often have huge models and huge amounts of parameters with high computational complexity, making it difficult to deploy them to work effectively on edge mobile devices with extremely limited computational resources and memory. To solve these problems, we proposed a new detection model for UAV view ship target based on YOLOv4. To this end, first, we constructed a satellite remote sensing ship image dataset and used transfer learning to reduce the reliance on model training data. Second, we lightened the model by sparsity training, channel and layer pruning, and then used knowledge distillation techniques to rebound the accuracy. In the end, the model size is reduced by 97.19% and the detection time of a single image is reduced by 39.73% while maintaining high detection accuracy, achieving high precision real-time detection suitable for deployment on edge devices such as UAVs.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126710299","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

Aerial Image Stitching Based on Fusion of Geographic Coordinates and Image Features 基于地理坐标与图像特征融合的航空图像拼接

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986913

Liangchao Guo, Huyang Zhu, Yuwei Liu, Xiaoliang Sun, Xichao Teng

{"title":"Aerial Image Stitching Based on Fusion of Geographic Coordinates and Image Features","authors":"Liangchao Guo, Huyang Zhu, Yuwei Liu, Xiaoliang Sun, Xichao Teng","doi":"10.1109/ICUS55513.2022.9986913","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986913","url":null,"abstract":"With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely used to obtain ground remote sensing images. Due to the limited field of view of a single remote sensing image, it is necessary to stitch the images to obtain a large-scale scene image to apply to various practical applications. This paper introduces a two-stage stitching algorithm combining geographic coordinate information and image features. The stitching of sequence images is divided into intra-line stitching and inter-line stitching. Firstly, we use geographic coordinates and image features to calculate transformation parameters between a row of images, respectively, and select an appropriate transformation matrix to stitch a single row of images based on the rotation parameters in the homography matrix. Then, we also calculate the transformation matrices between different rows of images based on the geographic coordinate information and image features, and select the appropriate transformation matrix based on the comparison of the rotation parameters in different transformation matrices. Stitching experiments are carried out for various scenarios. Compared with traditional stitching methods, the proposed method integrates information from different sources, has higher reliability, and can adapt to stitching of various types of scenarios.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"180 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129169880","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

An Integrated Natural Disaster Observation System 自然灾害综合观测系统

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986806

Xiaohan Liu, Yezhou Yang, Oujie Li, S. Zhang, W. Qian, Guodong Sun, Fu Chen, Junce Ma, Ping Liang, Shaowen Cheng, Kuangyang Shu

引用次数: 0

A dynamic event-triggered leader-following consensus algorithm for multi-AUVs system 多auv系统的动态事件触发leader-follow共识算法

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9987019

Yicong Tong, Jianming Miao, Yanyun Wang

引用次数: 0

Adaptive Multi-feature Fusion Improved ECO-HC Image Tracking Algorithm Based on Confidence Judgement for UAV Reconnaissance 基于置信度判断的无人机侦察自适应多特征融合改进ECO-HC图像跟踪算法

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986528

Q. Shi, Hua Wang, Hao Cheng, Tao Han, Jiachao Guo

{"title":"Adaptive Multi-feature Fusion Improved ECO-HC Image Tracking Algorithm Based on Confidence Judgement for UAV Reconnaissance","authors":"Q. Shi, Hua Wang, Hao Cheng, Tao Han, Jiachao Guo","doi":"10.1109/ICUS55513.2022.9986528","DOIUrl":"https://doi.org/10.1109/ICUS55513.2022.9986528","url":null,"abstract":"Owing to the advantages of target tracking algorithm based on correlation filtering on the efficiency in speed and the tracking accuracy, it has been widely applied in the image real-time tracking, especially in the field of the video surveillance, the human-computer interaction, and the intelligent transportation. However, considering the tracking timeliness and the ability to deal with deformation, position changes and occlusion in complex background, especially in the application for the unmanned aerial vehicle (UAV) reconnaissance, an adaptive multi-feature fusion improved tracking algorithm with confidence judgement strategy is proposed in this paper. On the basis of the efficient convolution operators handle-crafted (ECO-HC) method, which is the best algorithm with excellent performance based on correlation filtering, an adaptive multi-feature strategy and a strategy of confidence state recognition with confidence judgement and relocation are described in detail. After quantitative and qualitative comparison tests with other advanced algorithms, the results fully verify the superiority in tracking accuracy and robustness against the interference of the complex background.","PeriodicalId":345773,"journal":{"name":"2022 IEEE International Conference on Unmanned Systems (ICUS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114170506","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

Distributed Collaborative Active Defense Guidance for TADs System via NMPC 基于NMPC的TADs系统分布式协同主动防御制导

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9986736

Dengfeng Yang, Xiaodong Yan

引用次数: 0

Path Preview Tracking for Autonomous Vehicles Based on Model Predictive Control 基于模型预测控制的自动驾驶汽车路径预览跟踪

2022 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2022-10-28 DOI: 10.1109/ICUS55513.2022.9987142

Yanrong Lu, Jia Zhu, Zhiwen Wang, Nan Du, Jindou Zhang

引用次数: 0