2023 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第6页

Quadcopter Capable of Autonomously Chasing Micro-Aircraft with Real-Time Visual Tracker 具有实时视觉跟踪器的四轴飞行器自动跟踪微型飞行器

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156489

Dong-Hee Lee, Wooryong Park, Junhak Yi, Woohyun Byun, Soobin Huh, Woochul Nam

{"title":"Quadcopter Capable of Autonomously Chasing Micro-Aircraft with Real-Time Visual Tracker","authors":"Dong-Hee Lee, Wooryong Park, Junhak Yi, Woohyun Byun, Soobin Huh, Woochul Nam","doi":"10.1109/ICUAS57906.2023.10156489","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156489","url":null,"abstract":"It is difficult for unmanned aerial vehicles to chase another micro-aircraft (MA) due to the small size and its fast maneuverability. Thus, this study developed a fast and accurate visual tracker for real-time inference. Then, a quadcopter was controlled to chase a target MA by considering the result of the visual tracker. Specifically, the pitch, throttle, and yaw of the quadcopter were determined by the PD controller based on the position, and the size of the MA in the image. The newly developed visual tracker comprises an adaptive search region (SR) and a fully convolutional neural network. The size and the location of the SR were constantly adjusted over image frames by considering the tracking result of the MA in previous frames. Furthermore, if the size and the location of the SR are not precise enough, the SR was updated to minimize the tracking failure. Performance of the SR was improved by using the Kalman filter. In real flight experiments, the quadcopter equipped with the proposed model successfully chased the MA which randomly moved at approximately 5 m/s.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"18 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":"127647472","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

Equivalent Vertical Dynamics of Flapping-Wing Flying Robot in Regulation Control: Displacement Transmissibility Ratio 调节控制下扑翼飞行机器人的等效垂直动力学:位移传递率

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156157

S. R. Nekoo, A. Ollero

{"title":"Equivalent Vertical Dynamics of Flapping-Wing Flying Robot in Regulation Control: Displacement Transmissibility Ratio","authors":"S. R. Nekoo, A. Ollero","doi":"10.1109/ICUAS57906.2023.10156157","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156157","url":null,"abstract":"This paper presents an equivalent dynamic model for vertical regulation control of a flapping-wing flying robot. The model is presented based on the data of a series of flight experiments for an available platform. The system shows oscillations in motion in all experiments with an approximate frequency between [3. 5, 4. 5](Hz), changing within a limited range. The behavior of the equivalent model represents a system with base excitation. The displacement transmissibility ratio (TR) is found for the model to investigate the oscillatory behavior in the system during the flight. Reduction of the oscillations through the transmissibility ratio will decrease the uncertainty in flight and consequently, that could increase the success rate of perching on a branch (now it has a 10 - 15(cm) uncertain periodic motion); perching needs precision on the last meter approaching phase. An analytical expression for TR is presented which is used for parameter selection, tuning, and selection of the flapping frequency, as the base excitation source. The study shows that the robot works in a proper zone of the frequency ratio, and also, the sensitivity of the TR is high concerning the changes in the stiffness constant.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"137 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":"127343721","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

Multi-Auctioneer Market-based Task Scheduling for Persistent Drone Delivery 基于多拍卖商市场的无人机配送任务调度

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155855

M. Rinaldi, Stefano Primatesta, G. Guglieri, A. Rizzo

{"title":"Multi-Auctioneer Market-based Task Scheduling for Persistent Drone Delivery","authors":"M. Rinaldi, Stefano Primatesta, G. Guglieri, A. Rizzo","doi":"10.1109/ICUAS57906.2023.10155855","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155855","url":null,"abstract":"Market-based task allocation methods represent an effective strategy for scheduling heterogeneous tasks to a heterogeneous multi-agent system, e.g., a fleet of different Unmanned Aerial Vehicles (UAVs). This is mainly due to their computational efficiency, ease of hybridization with optimization techniques and adaptability to different communication architectures. In this paper, a novel hybrid auction-based task allocation architecture with multi-auctioneer agents’ behavior is proposed for an Urban Air Mobility application. The proposed method aims to solve the combined problem of: (i) scheduling parcel pick-up and delivery tasks with time deadlines while minimizing the drones’ energy consumption; (ii) scheduling battery re-charge tasks in order to ensure the service’s persistency; and (iii) evaluating safe aerial routes since the UAVs fly over populated areas. The validity of the approach is demonstrated through Monte Carlo simulations. Moreover, being the proposed architecture distributed among the UAVs, the impact of communication failures on well-defined solution quality parameters is also investigated.","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":"130728358","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

Attitude Control of a Tilt-rotor Tailsitter Micro Air Vehicle Using Incremental Control 基于增量控制的倾转旋翼式微型飞行器姿态控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156272

Gervase H.L.H. Lovell-Prescod, Ziqing Ma, E. Smeur

引用次数: 0

Design and Deployment of an Efficient Communication Service for Multi-UAV Systems 多无人机系统高效通信服务的设计与部署

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156133

P. H. M. Pereira, Faezeh Pasandideh, Maik Basso, J. P. J. da Costa, Edison Pignaton de Freitas

{"title":"Design and Deployment of an Efficient Communication Service for Multi-UAV Systems","authors":"P. H. M. Pereira, Faezeh Pasandideh, Maik Basso, J. P. J. da Costa, Edison Pignaton de Freitas","doi":"10.1109/ICUAS57906.2023.10156133","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156133","url":null,"abstract":"Recent advances in the areas of microelectronics, information technology, and communication protocols have made possible the development of smaller devices, with increasing processing capacity and low energy consumption. This context contributed to the growth of applications based on the use of one or multiple Unmanned Aerial Vehicles (UAVs). Networks composed of multiple UAVs are being used as a matter of improving the effectiveness, accuracy, and minoring the time of missions. However, these applications demand a high rate of data exchange, such as the localization information of each UAV, which can be a challenge, due to the limited transmission power of certain drone platforms. This article proposes a communication service for multi-UAV systems based on dividing the UAV-fleet into groups using the communication protocol IEEE 802.11 ac. Each group has its local network, whose participants can be chosen based on the UAV’s localization or task assignment. UAVs/Drones within the same group constantly communicate, exchanging pose information and specific mission-related data. On the other hand, communication between different groups is only established by messenger drones in pre-set times. The communication service from its detailed implementation to its simulated and field validation experiments is presented in this paper. The results of three different network topologies provide evidence that the proposed communication service for multi-UAV is efficient and can be used for drone cooperative missions.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"83 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":"132743388","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

Variable pitch propeller - blade pitch moment computational analysis 变螺距螺旋桨-桨叶螺距力矩计算分析

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155835

Maciej Podsędkowski, Michal Lipian, D. Obidowski

引用次数: 0

Experimental Quadrotor Physical Parameters Estimation 实验四旋翼机物理参数估计

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156332

I. Cortés-Benito, Y. Tlatelpa-Osorio, M. Martínez-Ramírez, J. G. Romero, H. Rodríguez-Cortés

引用次数: 0

State Dependent Regional Pole Assignment Controller Design for a 3-DOF Helicopter Model 一种三自由度直升机模型的状态依赖区域极点配置控制器设计

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155816

Ahmet Cagri Arican, Engin Hasan Çopur, G. Inalhan, M. U. Salamci

引用次数: 0

Autonomous Navigation and Control of a Quadrotor Using Deep Reinforcement Learning 基于深度强化学习的四旋翼飞行器自主导航与控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156126

Mohamed Mokhtar, A. El-Badawy

引用次数: 0

A Vision-based Approach for Unmanned Aerial Vehicles to Track Industrial Pipes for Inspection Tasks 基于视觉的无人机工业管道跟踪检测方法

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156565

Sara Roos-Hoefgeest, Jonathan Cacace, Vincenzo Scognamiglio, Ignacio Álvarez, R. C. González, Fabio Ruggiero, V. Lippiello

引用次数: 0