2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)最新文献_第5页

Mission Automation for Drone Inspection in Congested Environments 拥挤环境下无人机巡检的任务自动化

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999719

Hirad Goudarzi, D. Hine, Arthur G. Richards

引用次数: 7

Implementation of Ground Control System for Autonomous Multi-agents using QGroundControl 基于QGroundControl的自主多智能体地面控制系统实现

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999717

Tristan Dardoize, Noé Ciochetto, Ju-Hyeon Hong, Hyo-Sang Shin

{"title":"Implementation of Ground Control System for Autonomous Multi-agents using QGroundControl","authors":"Tristan Dardoize, Noé Ciochetto, Ju-Hyeon Hong, Hyo-Sang Shin","doi":"10.1109/REDUAS47371.2019.8999717","DOIUrl":"https://doi.org/10.1109/REDUAS47371.2019.8999717","url":null,"abstract":"This paper presents an integration approach to deploy new mission planning methods for multi-vehicle systems within an open source ground control system (GCS), i.e. QGroundControl. As the autonomous mission planning features of QGroundControl consist in pre-planning waypoints within a geofence, there is no way to deal with scenarios where the agents of the swarm must counter moving targets of reduced size, or more generally any scenario where an algorithm of path planning is preferred instead of a manual planification. The proposed solution consists in extending the ”toolbox” of the application (QGCToolbox) with a new tool (QGCTool), in implementing a new controller and modifying views (FlightDisplayViewMap, PlanView) while enabling information to flow between components using Qt’s signals and slots. A test scenario is presented to verify new mission planning interface and path planning algorithm, that involves in this case eight UAVs operating in a zone to protect and an area to attack. Also a workaround is proposed to increase the default limitation of connections to QGroundControl. The proposed methodology is tested and validated with software in the loop and flight test.","PeriodicalId":351115,"journal":{"name":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116626656","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

Securing UAV communications using ROS with custom ECIES-based method 使用基于自定义ecies方法的ROS保护无人机通信

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999685

Manuel J. Fernández, P. Sánchez-Cuevas, G. Heredia, A. Ollero

{"title":"Securing UAV communications using ROS with custom ECIES-based method","authors":"Manuel J. Fernández, P. Sánchez-Cuevas, G. Heredia, A. Ollero","doi":"10.1109/REDUAS47371.2019.8999685","DOIUrl":"https://doi.org/10.1109/REDUAS47371.2019.8999685","url":null,"abstract":"This paper is about an application of a method based on the ECIES (Elliptic Curve Integrated Encryption Scheme) to improve the security against malicious attacks of the UAVs (Unmanned Aerial Vehicles) communications system. This system is focused on improving the security conditions in extreme situations and preventing the aircraft for man-made incidents and cyber attacks. The paper briefly describes the different attacks that can affect to the operation of UAVs and the security methods that, nowadays, are used to guarantee the security during the operations. Moreover, it presents a solution to a strong vulnerability detected in the classical scheme used in UAV. This scheme uses ROS (Robot Operating System) as the core of the communication system to interconnect different devices and nodes in this paper, it is demonstrated that if an Intruder is able to enter in the local network of the UAV system, he/she is also able to impersonate the GCS (Ground Control Station) of the UAV and take control of it leading to an undesirable maneuver or even a dangerous crash against a building or a person. The security system proposed to avoid this consists of a simplified method based on ECIES sending packets, between UAV and GCS, which uses ECDSA (Elliptic Curve Digital Signature) and are ciphered in RSA (Rivest–Shamir–Adleman). Thus, it is possible to guarantee that the high level computer of the UAV is able to identify the identity of their GCS and prevent of being commanded by an unauthorized Intruder. Both, the vulnerability and the solution proposed have been experimentally tested and validated through software-in-the-loop simulations and in a outdoor scenario using a small UAV.","PeriodicalId":351115,"journal":{"name":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126553573","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 framework to handle threats for UAS operating in the U-space 处理u空间无人机威胁的框架

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999673

C. Capitán, Á. Castaño, J. Capitán, A. Ollero

引用次数: 2

Cascade First and Second Order Sliding Mode Controller of a QuadRotor UAV based on Exponential Reaching Law and Modified Super-Twisting Algorithm 基于指数趋近律和改进超扭转算法的四旋翼无人机级联一、二阶滑模控制器

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999711

E. Paiva, M. Gomez-Redondo, J. Rodas, Y. Kali, M. Saad, R. Gregor, H. Fretes

引用次数: 4

Towards Aerial Interaction of MAVs in GPS-Denied Environments gps拒绝环境下mav的空中交互研究

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999686

Aarón López Luna, J. Martínez-Carranza, I. Vega

{"title":"Towards Aerial Interaction of MAVs in GPS-Denied Environments","authors":"Aarón López Luna, J. Martínez-Carranza, I. Vega","doi":"10.1109/REDUAS47371.2019.8999686","DOIUrl":"https://doi.org/10.1109/REDUAS47371.2019.8999686","url":null,"abstract":"We propose an aerial Interaction system based on a micro aerial vehicle (MAV) with a two degree of freedom (DOF) arm incorporated in the lower part of the frame. There are numerous potential benefits of physical interaction with the environment. However, the process of approaching a MAV to an object or a surface also brings challenging control problems. Additionally, potential scenarios are usually inadequate for the use of Global Positioning System (GPS) technology, usually used for the MAV’s pose measurement in the control algorithms. In this work, a Gain-Scheduling (GS) approach is incorporated into a conventional Proportional-Integral-Derivative (PID) control algorithm to solve the problem of successfully touch a rigid surface in flight mode with no collisions. The Simultaneous Localization and Mapping (SLAM) approach is incorporated in the control loop as an alternative to the GPS. Visual SlAM utilizes images captured from a monocular camera onboard the MAV. Once captured, images are passed to an RGB-Depth SLAM system. Thus, MAV’s pose can be estimated with a metric, which is then considered into the interaction control. Experimental testing results demonstrate satisfactory performance of the proposed control strategy.","PeriodicalId":351115,"journal":{"name":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125700239","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

A 4D grid based approach for efficient conflict detection in large-scale multi-UAV scenarios 基于四维网格的大规模多无人机场景冲突检测方法

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999724

J. J. Acevedo, Á. Castaño, J. L. Andrade-Pineda, A. Ollero

引用次数: 6

Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver 变螺距螺旋桨四旋翼控制推力优化分配:翻转机动的比较研究

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999681

S. R. Nekoo, J. Acosta, A. E. Gomez-Tamm, A. Ollero

{"title":"Optimized Thrust Allocation of Variable-pitch Propellers Quadrotor Control: A Comparative Study on Flip Maneuver","authors":"S. R. Nekoo, J. Acosta, A. E. Gomez-Tamm, A. Ollero","doi":"10.1109/REDUAS47371.2019.8999681","DOIUrl":"https://doi.org/10.1109/REDUAS47371.2019.8999681","url":null,"abstract":"Variable-pitch propellers quadrotors possess nonlinear algebraic relations between force/moment of the system and thrust factors of the rotor dynamics. The nonlinear relations make the thrust allocation a challenging topic in overall control design. The state-dependent Riccati equation (SDRE) is selected as a controller for regulation task in fully coupled six degree-of-freedom (DoF) mode. Common designs of the SDRE fail to deliver a fully coupled six-DoF control due to under-actuation. Virtual constraints are used to deliver a position and orientation control in a cascade design. Within the structure of the SDRE, four thrust allocation methods are proposed to compute the thrust factors based on the output results of control system. Practical implementation has been the main reason to generate such allocations. The use of Mean Value Theorem makes it possible to find an implementable formalism for thrust factors since they can be categorized as non-affine systems. Agile and aggressive maneuver is one of the application of the variable-pitch propellers quadrotors; so, flip maneuver is studied to highlight the advantages of the thrust allocation methods. Analysis of the four methods and comparisons are carried out to present the advantages and disadvantages of the proposed structures.","PeriodicalId":351115,"journal":{"name":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122814532","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

A UTM simulator based on ROS and Gazebo 基于ROS和Gazebo的UTM模拟器

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999705

Jose A. Millan-Romera, J. J. Acevedo, Á. Castaño, Héctor Pérez-Leon, C. Capitán, A. Ollero

引用次数: 7

A Temporal CNN-based Approach for Autonomous Drone Racing 一种基于时域cnn的自主无人机竞赛方法

2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) Pub Date : 2019-11-01 DOI: 10.1109/REDUAS47371.2019.8999703

L. Rojas-Perez, J. Martínez-Carranza

{"title":"A Temporal CNN-based Approach for Autonomous Drone Racing","authors":"L. Rojas-Perez, J. Martínez-Carranza","doi":"10.1109/REDUAS47371.2019.8999703","DOIUrl":"https://doi.org/10.1109/REDUAS47371.2019.8999703","url":null,"abstract":"Convolutional Neural Networks (CNN) and Deep Learning (DL) have become a popular tool to address all sorts of artificial intelligent challenges. The Autonomous Drone Racing is a challenge consisting of developing an autonomous drone capable of beating a human in a drone race, and DL is a tool that has been included in state of the art solutions to address this problem. Current works have proposed to use CNN and DL to detect the gates, whereas other works have proposed to use a CNN to obtain drone’s control commands and a goal point, with all of these approaches using a single image as input. In this work we propose a CNN based on the well known pose-net network. Originally used for camera relocalisation, we propose to use pose-net to provide control commands to drive the drone towards and to cross the gate autonomously. In contrast to previous works, we also propose to use a temporal set of images as input for the network. In specific, we use 6 images captured every 166 milliseconds in one second to create a mosaic. The latter is used as input of the CNN to predict the control commands. We compare this proposed temporal approach against using a single image as input for the CNN. Our results, although in simulation, demonstrate that the using only our temporal approach is feasible, less noisy and more effective than the single image approach, enabling the drone to autonomously cross a set of gates placed randomly, and even under the scenario where the gate moves dynamically.","PeriodicalId":351115,"journal":{"name":"2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133570153","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: 4