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Design and Prototyping of a Ground-Aerial Robotic System 地面-空中机器人系统的设计与原型
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155948
D. Kotarski, A. Ščurić, P. Piljek, T. Petrović
{"title":"Design and Prototyping of a Ground-Aerial Robotic System","authors":"D. Kotarski, A. Ščurić, P. Piljek, T. Petrović","doi":"10.1109/ICUAS57906.2023.10155948","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155948","url":null,"abstract":"This paper presents an investigation into the feasibility of using a ground-aerial robotic system for data collection missions. It outlines the design of a system consisting of a tracked unmanned ground vehicle (UGV) and a multirotor unmanned aerial vehicle (UAV). The UGV is designed to enable the possibility of changing and charging batteries for the UAV, which is equipped with sensors for precise landing on the UGV platform. Rapid prototyping technologies were used to create a small experimental aircraft with a simple battery change airframe that can be tested indoors or outdoors. Parts of the chassis and drive elements were designed and manufactured for the UGV platform, and then the drive assembly and testing were carried out. The control systems of the UAV and UGV robots were evaluated through preliminary experiments. In future work, the integration of the control system and prototyping of the mechanism and electronics of the module for charging and changing batteries are planned in order to facilitate further advancements in the field of data collection missions.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"277 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":"122852809","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
UAV-FD: a dataset for actuator fault detection in multirotor drones * UAV-FD:多旋翼无人机执行器故障检测数据集*
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156060
A. Baldini, Lorenzo D’Alleva, R. Felicetti, F. Ferracuti, A. Freddi, A. Monteriù
{"title":"UAV-FD: a dataset for actuator fault detection in multirotor drones *","authors":"A. Baldini, Lorenzo D’Alleva, R. Felicetti, F. Ferracuti, A. Freddi, A. Monteriù","doi":"10.1109/ICUAS57906.2023.10156060","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156060","url":null,"abstract":"Multirotor drones are equipped with propellers that may get damaged in flight in case of a collision with an obstacle or a rough landing. In view of safety-critical applications, such as flying over crowded areas or future passenger drones, being aware of a damaged actuator becomes essential to enhance system integrity. Therefore, in this paper we present a public dataset, namely UAV-FD, where real flight data from a multirotor under the effects of a chipped blade are collected. A conventional ArduPilot-based controller is employed, where the ArduPilot firmware is customized to increase the signal logging rate of selected variables, thus capturing information at higher frequencies. Moreover, the actual speed of each motor is measured and made available. Finally, we provide an illustrative fault detection strategy, based on MATLAB Diagnostic Feature Designer toolbox, to show how the dataset can be used and the blade chipping can be detected.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 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":"124223310","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
Development and calibration of autopilot hardware for small fixed-wing air vehicles with flight test validation of linear output feedback controller 小型固定翼飞行器自动驾驶仪硬件开发与标定，线性输出反馈控制器试飞验证
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155971
Harikumar Kandath, Jinraj V. Pushpangathan, Titas Bera, Sidhant Dhall, M. Seetharama Bhat
{"title":"Development and calibration of autopilot hardware for small fixed-wing air vehicles with flight test validation of linear output feedback controller","authors":"Harikumar Kandath, Jinraj V. Pushpangathan, Titas Bera, Sidhant Dhall, M. Seetharama Bhat","doi":"10.1109/ICUAS57906.2023.10155971","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155971","url":null,"abstract":"This paper discusses the development of autopilot hardware for small fixed-wing air vehicles. Weight constraint is the critical factor in developing such hardware. The sensors and communication devices are selected based on the requirements and constraints of these air vehicles. The sensors used in the hardware are calibrated using a three-axis rotating platform. The software written in the autopilot hardware is flexible enough to incorporate complex estimation and control algorithms along with the hardware-in-loop simulations. Linear output feedback controllers are designed for fixed wing micro and nano air vehicles. Successful flight trials are conducted to demonstrate the utility of the autopilot hardware for small fixed-wing air vehicles.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"57 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":"116822349","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
AIRFRAME - Fast prototyping framework for UAVs definition AIRFRAME -用于无人机定义的快速原型框架
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156583
A. Berra, P. Sánchez-Cuevas, M. A. Trujillo, G. Heredia, A. Viguria
{"title":"AIRFRAME - Fast prototyping framework for UAVs definition","authors":"A. Berra, P. Sánchez-Cuevas, M. A. Trujillo, G. Heredia, A. Viguria","doi":"10.1109/ICUAS57906.2023.10156583","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156583","url":null,"abstract":"Developing a new UAV platform is a long and iterative process that requires a lot of time and effort to be successful. The difficulty of performing a realistic evaluation of system performance during the development process represents a major drawback. As a matter of fact, in most contexts, the first proof of UAVs’ capabilities arrives only during the first flights of the real platform. This may lead, in case of possible issues detected in the platform, to a revaluation of the design, which is not optimal at the very last stage of platform development. To overcome this issue, we propose AIRFRAME, a framework for fast-developing UAV prototypes in simulation to allow for systematic evaluation and analysis of UAV performance during the development process. The developed prototype integrates software and hardware for a better evaluation of the system’s capability and performance at an early stage. The implementation of the framework has succeeded with Gazebo-ROS-Matlab in Docker Environment. It allows high integrability and fast evaluation of multiple UAV designs.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"46 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":"123064245","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
Exploiting the Line Virtual Structure Formation for Cooperation of Two Mobile Robots 两移动机器人协作的线虚拟结构形成研究
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156065
Daniel Khede Dourado Vilia, M. Sarcinelli-Filho
{"title":"Exploiting the Line Virtual Structure Formation for Cooperation of Two Mobile Robots","authors":"Daniel Khede Dourado Vilia, M. Sarcinelli-Filho","doi":"10.1109/ICUAS57906.2023.10156065","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156065","url":null,"abstract":"This work explores further the problem of controlling a formation composed by two unmanned aerial vehicles (UAVs), or by a UAV and an unmanned ground vehicle (UGV), using the virtual structure paradigm, having the line connecting the two robots as the virtual structure. An alternative version for characterizing the virtual structure is proposed, and the advantages and drawbacks of this novel framework are discussed. The proposed formation controller generates references for the time variation of the formation variables in the formation space, which are transformed to velocities in the robots space, dynamically compensated using the feedback linearization technique. To validate our proposal experiments are run, considering one quadrotor and one differential drive wheeled mobile robot. The obtained results are presented through illustrations and videos, providing examples of the advantages of the proposed formation characterization.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"15 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":"129650668","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
Resilient Leader-Following Formation Control For a Fleet of Unmanned Aerial Vehicles Under Cyber-Attacks 网络攻击下无人机编队的弹性leader - follow编队控制
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156075
J. A. Vázquez Trejo, A. Guenard, M. Adam-Medina, L. Ciarletta, J. Ponsart, D. Theilliol
{"title":"Resilient Leader-Following Formation Control For a Fleet of Unmanned Aerial Vehicles Under Cyber-Attacks","authors":"J. A. Vázquez Trejo, A. Guenard, M. Adam-Medina, L. Ciarletta, J. Ponsart, D. Theilliol","doi":"10.1109/ICUAS57906.2023.10156075","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156075","url":null,"abstract":"Cooperative systems as fleets of unmanned aerial vehicles often use the exchange of information through communication networks to reach an agreement or complete desired tasks. These networks are mainly vulnerable to cyber-attacks which use them to spread malfunctions to all systems in the network. The main contribution of this paper is the design of a resilient strategy such that the UAVs can follow the trajectories of a UAV leader in a consensus despite a type of cyber-attacks. Linear matrix inequalities (LMIs)-based conditions are obtained to guarantee the stability of the consensus against cyber-attacks. The proposed strategy is evaluated through simulations of a fleet of UAV under false-injection data in the inputs as cyber-attacks. A comparison between the proposed resilient strategy and the classical formation control is provided.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 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":"129092835","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
Wind-Aware Path Optimization for an Aerobot in the Atmosphere of Venus Using Genetic Algorithms 基于遗传算法的金星大气飞行器风感知路径优化
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156502
Anna Puigvert I Juan, Bernardo Martinez Rocamora, Guilherme A. S. Pereira
{"title":"Wind-Aware Path Optimization for an Aerobot in the Atmosphere of Venus Using Genetic Algorithms","authors":"Anna Puigvert I Juan, Bernardo Martinez Rocamora, Guilherme A. S. Pereira","doi":"10.1109/ICUAS57906.2023.10156502","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156502","url":null,"abstract":"This paper presents a path optimization solution for an autonomous aerial robot (aerobot) in the windy atmosphere of Venus. The aircraft is required to travel from its current position to a goal position by following minimum energy paths. The approach proposed in this paper uses genetic algorithms, a heuristic search that, based on a population of initially feasible paths and a set of biologically inspired operations, finds a low-cost path. The proposed cost function accounts for energy expenditure, such as thrust or drag, and also energy accumulation, such as charging with solar panels and gains from potential energy (e.g., due to upward directional winds). Path feasibility is assured by computing local reachability regions based on the wind velocity and the maximum speed of the aerobot. The method is illustrated through a series of simulations that show our results as a function of the number of iterations and path population sizes. A comparison with a previous algorithm is also made.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 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":"125506393","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
Vision-based Cooperative Moving Path Following for Fixed-Wing UAVs 基于视觉的固定翼无人机协同移动路径跟踪
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155793
Miguel Félix, T. Oliveira, G. Cruz, Diogo Silva, J. Alves, Luis Santos
{"title":"Vision-based Cooperative Moving Path Following for Fixed-Wing UAVs","authors":"Miguel Félix, T. Oliveira, G. Cruz, Diogo Silva, J. Alves, Luis Santos","doi":"10.1109/ICUAS57906.2023.10155793","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155793","url":null,"abstract":"This paper addresses the problem of collaborative ground target tracking by a group of fixed-wing Unmanned Aerial Vehicles (UAVs) using vision in the loop. The UAVs adopt a circular path formation centered at the target’s coordinates and move together with it, using the Moving Path Following (MPF) method. A distributed control architecture is implemented, where each vehicle obtains the telemetry data from the preceding vehicle, through a chained communication network. A computer vision system based on machine learning techniques is proposed to close the cooperative MPF control loop. The obtained results show the efficiency of the proposed control system in realistic software-in-the-loop simulations.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 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":"129035038","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
Preliminary Aerodynamic Simulation of a Flying Car Concept 飞行汽车概念的初步空气动力学模拟
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156441
Tingrui Zhang, Ying Liu, Zhuoran Wu, Zidong Li, Shuo Ran, Fengnian Tian
{"title":"Preliminary Aerodynamic Simulation of a Flying Car Concept","authors":"Tingrui Zhang, Ying Liu, Zhuoran Wu, Zidong Li, Shuo Ran, Fengnian Tian","doi":"10.1109/ICUAS57906.2023.10156441","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156441","url":null,"abstract":"The pursuit of flight has never ceased, and flying cars are gradually becoming a reality. However, only a few designs can accommodate both ground travel and aerial flight. As a result, aerodynamic research on flying cars is relatively scarce. This paper presents a novel concept of a flying car. The concept transforms between flight mode and vehicle mode through the rotation and folding of rotors and wings. Using aerodynamic simulation methods, the aerodynamic characteristics of the flying car in four states, including ground travel, single body, vertical takeoff and landing, and forward flight, under different incoming flow speeds are studied. The simulation results provide guidance for the design of the flying car concept.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"96 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":"121304393","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 Reliability Framework for Safe Octorotor UAV Flight Operations 旋翼无人机安全飞行操作的可靠性框架
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156536
T. T., Siddesh Govind, A. Roy, B. Ng, K. H. Low
{"title":"A Reliability Framework for Safe Octorotor UAV Flight Operations","authors":"T. T., Siddesh Govind, A. Roy, B. Ng, K. H. Low","doi":"10.1109/ICUAS57906.2023.10156536","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156536","url":null,"abstract":"Airworthiness of multirotor unmanned aerial vehicles is of utmost importance for ensuring safe flight operations, especially in high-risk airspace. The propulsion system plays a critical role in determining the UAVs’ stability and control, and their failures can render UAVs into significant hazards. Assessing the reliability of the propulsion system provides valuable insight into the overall airworthiness of the UAVs, benefitting both regulators and operators. Hence, this paper proposes a framework that integrates controllability analysis with Markov chain modeling to evaluate UAV reliability. The controllability analysis determines combinations of propulsion unit failures in which the UAV remains controllable, which are then modeled as Markov states. This framework is applied to a class of octorotor UAVs, comparing their reliability with other multi-rotor UAVs and examining the influence of different payloads. The results demonstrate the superior reliability of octorotor UAVs, emphasizing their increased suitability for high-risk airspace flight operations compared to other multirotor UAVs.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 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":"121258087","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
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