2023 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第5页

Autonomous Control of UAV for Proximity Tracking of Ground Vehicles with AprilTag and Feedforward Control 基于四月标签和前馈控制的无人机近距离跟踪控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155980

Junhak Yi, Donghee Lee, Wooryong Park, Woohyun Byun, Soobin Huh, Woochul Nam

引用次数: 0

Multi-UAV Cooperative Search Planning Algorithm Based on Dynamic Target Probability Model 基于动态目标概率模型的多无人机协同搜索规划算法

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156269

Zihang Ao, Yulong Zhang, Jing Huang, Yichen Lin, Xiaodeng Zhou, Youmin Zhang

引用次数: 0

H∞ Optimal Distributed Tracking Control Algorithm for Network Distributed Systems with an Application to UAV 网络分布式系统的H∞最优分布式跟踪控制算法及其在无人机上的应用

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156349

Gulnihal Kucuksayacigil

引用次数: 1

Cloud-Based Control of Drone Swarm with Localization via Ultra-Wideband 基于云的无人机群超宽带定位控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156277

Deeshant Sharma, Annu, Naga Praveen Babu Mannam, P. Rajlakshmi

{"title":"Cloud-Based Control of Drone Swarm with Localization via Ultra-Wideband","authors":"Deeshant Sharma, Annu, Naga Praveen Babu Mannam, P. Rajlakshmi","doi":"10.1109/ICUAS57906.2023.10156277","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156277","url":null,"abstract":"Nowadays, aerial and ground robots can be made cheaper and lighter which makes it possible to deploy them in large numbers and drone swarms have the potential to increase efficiency and safety in certain applications, as well as provide new capabilities that would not be possible with a single drone. Successful implementation of swarm cooperative applications requires low-latency communications and real-time localization. In this paper, we proposed a cloud-based control system architecture to dynamically control the drone swarm or UAV formation in the 3D space using the mobile application. A group of UAVs determines their location using an integrated ultra-wideband module. The base station is connected to the cloud platform (google firebase in our case) which is again connected to a mobile app to get the position and formation commands directly from the user using an interactive interface. The base station will get these commands and position control information from the cloud. The base station then sends the next setpoint to each UAV, enabling UAVs to form a real-time user-controlled formation and fly autonomously until the next command. Our experiment results show that the latency in this architecture is in a range of 0.8 to 1.41 sec. with fixed anchors, the localization error is less than 5 cm.","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":"114078319","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 Path Planning for the delivery of emergency medical supplies 无人机应急医疗物资输送路径规划

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156218

E. Aldao, Gabriel Fontenla-Carrera, L. M. González-deSantos, H. González-Jorge

引用次数: 0

Multi-Agent Reinforcement Learning for Multiple Rogue Drone Interception 多智能体强化学习的多流氓无人机拦截

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156047

P. Valianti, Kleanthis Malialis, P. Kolios, G. Ellinas

引用次数: 0

Improving resolution in deep learning-based estimation of drone position and direction using 3D maps 提高基于深度学习的无人机位置和方向估计的分辨率

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156315

M. Hamanaka

{"title":"Improving resolution in deep learning-based estimation of drone position and direction using 3D maps","authors":"M. Hamanaka","doi":"10.1109/ICUAS57906.2023.10156315","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156315","url":null,"abstract":"We propose a method to improve the resolution of drone position and direction estimation on the basis of deep learning using three-dimensional (3D) topographic maps in nonglobal positioning system (GPS) environments. GPS is typically used to estimate the position of drones flying outdoors. However, it becomes difficult to estimate the position if the signal from GPS satellites is blocked by tall mountains or buildings, or if there are interference signals. To avoid this loss of GPS, we previously developed a learning-based flight area estimation method using 3D topographic maps. With this method, the flight area could be estimated with an accuracy of 98.4% in experiments conducted in 25 areas, each 40 meters square. However, a resolution of 40 meters square is difficult to use for drone control. Therefore, in this study, we will verify whether it is possible to improve the resolution by multiplexing the area division and the data acquisition direction. We also investigated whether the flight direction of the drone can be detected using a 3D map. Experimental results show that the position estimation was 96.8% accurate at a resolution of 25 meters square, and the direction estimation was 92.6% accurate for 12-direction estimation.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"2081 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":"129842661","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

Wall Effect evaluation of small quadcopters in pressure-controlled environments 压力控制环境下小型四轴飞行器的壁效应评价

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156365

Iris David Du Mutel de Pierrepont Franzetti, R. Parin, E. Capello

引用次数: 0

A Benchmark Framework for Testing, Evaluation, and Comparison of Quadrotor Linear and Nonlinear Controllers 用于测试、评估和比较四旋翼飞行器线性和非线性控制器的基准框架

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156106

Simone Martini, M. Stefanovic, A. Rizzo, M. J. Rutherford, P. Livreri, K. Valavanis

{"title":"A Benchmark Framework for Testing, Evaluation, and Comparison of Quadrotor Linear and Nonlinear Controllers","authors":"Simone Martini, M. Stefanovic, A. Rizzo, M. J. Rutherford, P. Livreri, K. Valavanis","doi":"10.1109/ICUAS57906.2023.10156106","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156106","url":null,"abstract":"A benchmark framework to test, evaluate, and compare different quadrotor controllers is presented. A detailed nonlinear quadrotor model and a set of six mission scenarios are used to evaluate seven state-of-the-art linear and nonlinear controllers. The quadrotor model is based on the Lagrange formulation and includes aerodynamic and gyroscopic effects, allows for sensor feedback noise to be introduced, and account for first order motor dynamics with input saturation. Simulated mission scenarios include realistic disturbances such as abrupt change of mass, wind gust, and aggressive flight maneuvers. The benchmark framework is the primary contribution of this research; the framework allows for performance comparison of multiple control architectures and implementations, and, the resulting open access testbed is made available to other researchers. Moreover, the same framework may be used to conduct simulated experiments (using ROS/Gazebo, X-Plane, or other software tools), and, with minor modifications, to compare controller performance based on real flights.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"14 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":"126088742","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

SwarmGear: Heterogeneous Swarm of Drones with Morphogenetic Leader Drone and Virtual Impedance Links for Multi-Agent Inspection 蜂群:具有形态发生领导无人机和虚拟阻抗链路的多智能体检测的异质蜂群

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155944

Zhanibek Darush, Mikhail Martynov, A. Fedoseev, A. Shcherbak, D. Tsetserukou

{"title":"SwarmGear: Heterogeneous Swarm of Drones with Morphogenetic Leader Drone and Virtual Impedance Links for Multi-Agent Inspection","authors":"Zhanibek Darush, Mikhail Martynov, A. Fedoseev, A. Shcherbak, D. Tsetserukou","doi":"10.1109/ICUAS57906.2023.10155944","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155944","url":null,"abstract":"The continuous monitoring by drone swarms remains a challenging problem due to the lack of power supply and the inability of drones to land on uneven surfaces. Heterogeneous swarms can support longer inspections, however, their capabilities are limited by the mobility of wheeled and legged robots in a cluttered environment.In this paper, we propose a novel concept SwarmGear for autonomous inspection. It leverages a heterogeneous swarm of drones that investigates the environment in a leader-follower formation. The leader drone is able to land on rough terrain and traverse it by four compliant robotic pedipulators, possessing both the functionalities of an aerial and mobile robot. To preserve the formation of the swarm during its motion, virtual impedance links were developed between the leader and the follower drones.The experiments revealed low crosstrack error (mean value is of 2.2 cm and max one is of 5.3 cm with the Type 2 gait) and the ability of the leader drone to move with a 190 mm step length. Four types of drone formation were considered. The best formation was applied for experiments and showed low overall crosstrack error for the swarm (mean 3.9 cm for the Type 1 gait and 3.3 cm for the Type 2 gait).","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":"127935882","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