2023 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles 基于混合现实的全向飞行器遥操作人机界面设计与评价

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156426

Mike Allenspach, Till Kötter, Rik Bähnemann, M. Tognon, R. Siegwart

{"title":"Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles","authors":"Mike Allenspach, Till Kötter, Rik Bähnemann, M. Tognon, R. Siegwart","doi":"10.1109/ICUAS57906.2023.10156426","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156426","url":null,"abstract":"Omnidirectional aerial vehicles are an attractive solution for visual inspection tasks that require observations from different views. However, the decisional autonomy of modern robots is limited. Therefore, human input is often necessary to safely explore complex industrial environments. Existing teleoperation tools rely on on-board camera views or 3D renderings of the environment to improve situational awareness. Mixed-Reality (MR) offers an exciting alternative, allowing the user to perceive and control the robot’s motion in the physical world. Furthermore, since MR technology is not limited by the hardware constraints of standard teleoperation interfaces, like haptic devices or joysticks, it allows us to explore new reference generation and user feedback methodologies. In this work, we investigate the potential of MR in teleoperating 6DoF aerial robots by designing a holographic user interface (see Fig. 1) to control their translational velocity and orientation. A user study with 13 participants is performed to assess the proposed approach. The evaluation confirms the effectiveness and intuitiveness of our methodology, independent of prior user experience with aerial vehicles or MR. However, prior familiarity with MR improves task completion time. The results also highlight limitation to line-of-sight operation at distances where relevant details in the physical environment can still be visually distinguished.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117130564","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

Toward lightweight acoustic fault detection and identification of UAV rotors 无人机旋翼轻量化声学故障检测与识别研究

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156624

Marek Kołodziejczak, Radosław Puchalski, Adam Bondyra, S. Sladic, Wojciech Giernacki

{"title":"Toward lightweight acoustic fault detection and identification of UAV rotors","authors":"Marek Kołodziejczak, Radosław Puchalski, Adam Bondyra, S. Sladic, Wojciech Giernacki","doi":"10.1109/ICUAS57906.2023.10156624","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156624","url":null,"abstract":"Data-driven Fault Detection and Isolation (FDI) systems receive a lot of attention from researchers. Several recent applications utilize acoustic signals recorded on-board of the Unmanned Aerial Vehicle (UAV) to assess the condition of propulsion system and diagnose rotor blade impairments. In this work, we propose two major improvements to the previously developed FDI scheme. They are aimed at reducing the computational load of the deep LSTM-based (Long ShortTerm Memory) fault classifier. First, the PCA-based (Principal Component Analysis) feature space reduction allows reducing the size of neural networks and thus decreasing the number of mathematical operations. Secondly, a modified algorithm introduces an ensemble of multiple weak classifiers with a decision-fusion strategy that provides the final status of the system. The developed schemes were evaluated in comparison to the original algorithm, using an extensive dataset of real-flight acoustic data. The results show that the proposed improvements significantly reduce the computation time within the assumed performance constraints.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127201745","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

Comparing DNN Performance to Justify Using Transference of Training for the Autonomous Aerial Refueling Task 比较DNN性能以证明在自主空中加油任务中使用迁移训练的合理性

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156120

Dillon Miller, Violet Mwaffo, Donald H. Costello

引用次数: 0

Mechatronic Design and Control of a Hybrid Ground-Air-Water Autonomous Vehicle 地-气-水混合动力自动驾驶汽车的机电一体化设计与控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156577

Dimitris Chaikalis, N. Evangeliou, Muhammed Nabeel, Nikolaos Giakoumidis, A. Tzes

引用次数: 0

Enhancing Human-Drone Interaction with Human-Meaningful Visual Feedback and Shared-Control Strategies 利用对人有意义的视觉反馈和共享控制策略增强人机交互

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156190

Riccardo Franceschini, Matteo Fumagalli, J. Becerra

引用次数: 0

Concept for an automated Detection of Conflicts in UAS Traffic Management 无人机系统交通管理中冲突自动检测的概念

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156359

Luca von Roenn, Tobias Grebner, A. Fay

{"title":"Concept for an automated Detection of Conflicts in UAS Traffic Management","authors":"Luca von Roenn, Tobias Grebner, A. Fay","doi":"10.1109/ICUAS57906.2023.10156359","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156359","url":null,"abstract":"Since January 26, 2023, the Commission Implementing Regulation (EU) 2021/664 applies in the European Union, with the help of which a legal basis has been created for the first time for the integration of the steadily increasing UAS traffic into the existing airspace via a so-called U-space. As the success of this approach stands and falls with acceptance by the public, it is essential that safe solutions are created. Therefore, UAS operators are now legally required to submit a UAS flight authorization request with the intended 4D trajectory prior to their flight and only if no spatial and temporal overlaps are detected, for example with other flight plans or no-fly zones, UAS operations may take place in U-space airspace. To this end, this paper presents a concept for legally compliant conflict detection that addresses both newly submitted UAS flight authorization requests and previously authorized requests. Finally, this concept is validated by means of a simulation. The results show that it is possible to detect all conflicts before the planned departure of an UAS in accordance with the legal basis. The modular design also makes it possible to make simple adjustments to the developed concept with regard to possible legal adjustments in this young research field.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115513836","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

Proportional Navigation-Based Guidance for an Autonomous Interdiction Mission Against a Stationary Target 针对静止目标的自主拦截任务的比例导航制导

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155962

Aman Choudhary, V. A, Satadal Ghosh

{"title":"Proportional Navigation-Based Guidance for an Autonomous Interdiction Mission Against a Stationary Target","authors":"Aman Choudhary, V. A, Satadal Ghosh","doi":"10.1109/ICUAS57906.2023.10155962","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155962","url":null,"abstract":"Due to the rapid increase of unmanned aerial vehicle (UAV) usage, the demand for efficient autonomous interdiction techniques to safeguard protected areas has become increasingly essential. This paper presents novel guidance strategies based on Proportional Navigation (PN) to interdict a stationary target using single and multiple unmanned aerial vehicles (UAVs). While the previous literature has primarily addressed controlling the terminal angle and achieving a desired final time separately for single-pursuer and multi-pursuer setups, designing guidance strategies to achieve both simultaneously poses a significant challenge. Although few existing literature endeavor to satisfy both constraints, they lack in guaranteeing an all-aspect approach. To this end, this paper’s main contribution is enabling pursuers to achieve any terminal configuration starting from any initial orientation while satisfying the final time constraint by employing PN-based multi-phase guidance strategies in single and multiple pursuer setups. While the ‘Preparation phase’ at the beginning and the ‘Final PPN phase’ at the end help ensure the desired terminal orientation, the intermediate Roaming phase helps achieve the desired final time. Also, the guarantee on phase transitions and performance of the overall guidance schemes and conditions on achievable final time for the success of the developed guidance schemes are analyzed. Finally, using numerical simulations, the developed guidance algorithms are validated for single and multiple pursuer(s) environments considering realistic constraints.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116076971","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

Control of a multi-UAV system in string-like flight in 3D space 多无人机系统在三维空间串状飞行中的控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155926

S. Arogeti, A. Ailon

引用次数: 0

Unscented Optimal Control for 3D Coverage Planning with an Autonomous UAV Agent 基于自主无人机Agent的三维覆盖规划的无气味最优控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156482

Savvas Papaioannou, P. Kolios, T. Theocharides, C. Panayiotou, M. Polycarpou

{"title":"Unscented Optimal Control for 3D Coverage Planning with an Autonomous UAV Agent","authors":"Savvas Papaioannou, P. Kolios, T. Theocharides, C. Panayiotou, M. Polycarpou","doi":"10.1109/ICUAS57906.2023.10156482","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156482","url":null,"abstract":"We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV’s motion, and camera control inputs for the 3D coverage of a given object of interest. Specifically, the coverage planning problem is formulated in this work as an optimal control problem with logical constraints to enable the UAV agent to jointly: a) select a series of discrete camera field-of-view states which satisfy a set of coverage constraints, and b) optimize its motion control inputs according to a specified mission objective. We show how this hybrid optimal control problem can be solved with standard optimization tools by converting the logical expressions in the constraints into equality/inequality constraints involving only continuous variables. Finally, probabilistic robustness is achieved by integrating the unscented transformation to the proposed controller, thus enabling the design of robust open-loop coverage plans which take into account the future posterior distribution of the UAV’s state inside the planning horizon.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122874945","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

A Modified Artificial Potential Field for UAV Collision Avoidance 一种改进的无人机避碰人工势场

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156492

Astik Srivastava, V. R. Vasudevan, Harikesh, Raghava Nallanthiga, P. Sujit

引用次数: 0