发布求助
文献互助 智能选刊 最新文献

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

筛选
英文 中文
A PX4 Integrated Framework for Modeling and Controlling Multicopters with Til table Rotors 一个PX4集成框架的多旋翼模型和控制与Til表转子
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156642
Salvatore Marcellini, Jonathan Cacace, V. Lippiello
{"title":"A PX4 Integrated Framework for Modeling and Controlling Multicopters with Til table Rotors","authors":"Salvatore Marcellini, Jonathan Cacace, V. Lippiello","doi":"10.1109/ICUAS57906.2023.10156642","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156642","url":null,"abstract":"This paper presents a general control framework for multicopters equipped with tiltable rotors (tilting multicopters). Differently from classical flat multicopters, tilting multicopters can be fully actuated systems able to decouple position and attitude control. The proposed framework has been transparently integrated into the widely used PX4 control stack, an open-source controller for ground and aerial systems, to fully exploit its high-level interfaces and functionalities and, at the same time, simplify the creation of new devices with tilting propellers. Simulation tools have been also added to the PX4 simulation framework, based on its Software-In-The-Loop (SITL) system and a set of simulated experiments in a dynamic robotic simulator have been carried out to demonstrate the effectiveness of this system. Moreover, to demonstrate the usability of the proposed framework, initial experiments with a real platform have been carried out. The proposed control framework is accessible at the following link: https://github.com/prisma-lab/PX4_tilting_multicopters","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"461 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":"132966205","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
Visual Navigation based on Deep Semantic Cues for Real-Time Autonomous Power Line Inspection 基于深度语义线索的实时自主电力线检测视觉导航
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155998
Dimitrios Alexiou, Georgios Zampokas, Evangelos Skartados, Kosmas Tsiakas, I. Kostavelis, Dimitrios Giakoumis, A. Gasteratos, D. Tzovaras
{"title":"Visual Navigation based on Deep Semantic Cues for Real-Time Autonomous Power Line Inspection","authors":"Dimitrios Alexiou, Georgios Zampokas, Evangelos Skartados, Kosmas Tsiakas, I. Kostavelis, Dimitrios Giakoumis, A. Gasteratos, D. Tzovaras","doi":"10.1109/ICUAS57906.2023.10155998","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155998","url":null,"abstract":"In this paper, a visual guided navigation method for Unmanned Aerial Vehicles (UAVs) during power line inspections is proposed. Our method utilizes a deep learning-based image segmentation algorithm to extract semantic masks of the power lines from onboard camera images. These masks are then processed and visual characteristics along with geometrical calculations generate velocity commands for the 3D position and yaw control that feed the UAV’s navigation system. The accuracy, robustness, and computational efficiency of the power line segmentation module are evaluated on real benchmark datasets. Extensive simulation experiments have been conducted to assess the proposed method’s performance in terms of inspection coverage, considering various textured environments and extreme initial states. The proposed method for navigating a UAV towards target PTLs is shown to be effective in terms of robustness and stability. This is achieved through accurate segmentation of the PTLs and the generation of compact velocity directives based on visual information in various environmental conditions. The results indicate a significant improvement in the precision of autonomous UAV-based inspections of power infrastructure due to continuous scoping of the transmission lines and safe yet stable navigation.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"37 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":"133805863","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
Cooperative UAS Forest Navigation With Feature Based SLAM 基于特征SLAM的协同无人机森林导航
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156528
Mats Martens, M. U. de Haag
{"title":"Cooperative UAS Forest Navigation With Feature Based SLAM","authors":"Mats Martens, M. U. de Haag","doi":"10.1109/ICUAS57906.2023.10156528","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156528","url":null,"abstract":"Within forest applications, Unmanned Aircraft Systems (UAS) are highly demanded. However, in forest environments conventional navigation systems that rely on a Global Navigation Satellite System (GNSS) are exposed to navigation performance degradation due to the forest canopy. Within this work, 2D Light Detection and Ranging (LiDAR) scanner equipped UAS swarms explore an unknown forest environment. Each UAS generates its own map estimate based on tree features, that are detected within the LiDAR point cloud. Using an Inertial Navigation System (INS) mechanization, an attitude estimate is calculated that is then used to project the features into the horizontal plane. While one UAS has the reference role and shares its map information, all other UAS are, initially, in the discovery role. These UAS make use of a bootstrap particle filter to localize themselves within the reference map. Once converged, they switch to an exploration role and can add or update features of the reference map. Thereby, the uncertainty of map feature positions is characterized and updated. Simulation and experimental test scenarios are presented, where the performance of the proposed method is demonstrated for different speed scenarios up to 16m/s. It is shown that the cooperative exploration of the forest environment yields a faster and more confident map of the forest. Additionally, the navigation accuracy is found to be 40cm at a maximum over a 225m long track while the noise is smaller than 3cm. Even though drift is present, relative navigation and separation can be ensured if UAS operate close to each other enabling a collision avoidance functionality.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":" 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113947901","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
Unmanned Aircraft Systems and Urban Air Mobility at the service of public administration for an acceleration of essential services in the smart cities of the future* 无人机系统和城市空中交通为公共管理服务，加速未来智慧城市的基本服务*
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155872
F. Gaspari, Giuseppina Agata Di Guardo
{"title":"Unmanned Aircraft Systems and Urban Air Mobility at the service of public administration for an acceleration of essential services in the smart cities of the future*","authors":"F. Gaspari, Giuseppina Agata Di Guardo","doi":"10.1109/ICUAS57906.2023.10155872","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155872","url":null,"abstract":"This paper aims to provide a glimpse into the dimension of Unmanned Aircraft Systems (UAS) use and the emerging Urban Air Mobility (UAM) ecosystem as regards territorial control for different purposes and the medical sector. Public authorities are increasingly employing UAS for activities in the public interest, by means of private individuals acting on their behalf. Hence, the aim is to demonstrate, with examples taken mainly from the Italian experience, how their smart, environmental, privacy-compatible use can represent a new frontier for the tools that public administrations are already experimenting with and can in the future implement through the potential offered by UAM. Such deployment will require them to undertake appropriate strategic planning of urban mobility with the support of European and national regulators, through the deployment of multi-level policies and governance in order to enhance the services offered and the quality of life of citizens.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"2 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":"114683463","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
Multicopters Obstacle Avoidance by Learning Optical Flow with a Balance Strategy 基于平衡策略的光流学习多旋翼机避障
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156370
Wenhan Gao, Shuo Jiang, Q. Quan
{"title":"Multicopters Obstacle Avoidance by Learning Optical Flow with a Balance Strategy","authors":"Wenhan Gao, Shuo Jiang, Q. Quan","doi":"10.1109/ICUAS57906.2023.10156370","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156370","url":null,"abstract":"Obstacle avoidance using onboard sensors is an important part of the safe and reliable navigation of autonomous aerial vehicles. For Micro aerial vehicles (MAVs), due to the extremely limited payload, it is a better choice to equip only one monocular camera. Although much attention had been paid to using optical flow to avoid obstacles mimicking the behavior of flying insects, these methods have met only limited success. Here, we propose a recognize-and-avoid method drawing lessons from the reactive obstacle avoidance methods. To let MAVs recognize the environmental conditions, we build an optical flow dataset for obstacle avoidance in the simulation environment and use a deep neural network to classify optical flow images into 5 labels. Then an avoidance policy is designed to mimic the \"optical flow balance\" strategy of flying insects. We analyze the proposed method in different simulation scenes and demonstrate the generalization of our method.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"37 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":"134200905","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
Safety Net Detection by Optic Flow Processing 基于光流处理的安全网检测
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156597
Xavier Daini, C. Coquet, Romain Raffin, T. Raharijaona, F. Ruffier
{"title":"Safety Net Detection by Optic Flow Processing","authors":"Xavier Daini, C. Coquet, Romain Raffin, T. Raharijaona, F. Ruffier","doi":"10.1109/ICUAS57906.2023.10156597","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156597","url":null,"abstract":"Drone navigation is an area of study that is receiving more and more attention. Obstacle detection techniques and autonomous guidance are continuously improving, but some types of obstacles are still very difficult to detect with current methods. Safety nets used to separate and secure 2 contiguous spaces are indeed very difficult to detect by Lidar and by image processing based on pattern recognition. The method we propose here separates the Optical Flow detections to identify the presence of a safety net: i) by using the norm of their vector, ii) by matching them to a regression defining a plane (safety net or wall). Our results show that the proposed method detects a net in front of a wall with very few false positives, thanks to a small displacement (at most 5%). Moreover, the distance estimation between the net and the wall as well as the distance between the net and the drone can be estimated with at most 20% error in the worst cases.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"16 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":"129391566","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
BDP-UaiFly System: A Platform for the RoboCup Brazil Open Flying Robot Trial League BDP-UaiFly系统:RoboCup巴西飞行机器人公开赛试验联赛平台
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156168
L. Fagundes-Júnior, Celso O. Barcelos, D. Gandolfo, A. Brandão
{"title":"BDP-UaiFly System: A Platform for the RoboCup Brazil Open Flying Robot Trial League","authors":"L. Fagundes-Júnior, Celso O. Barcelos, D. Gandolfo, A. Brandão","doi":"10.1109/ICUAS57906.2023.10156168","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156168","url":null,"abstract":"The Flying Robot Trial League (FRTL), from RoboCup Brazil, is a competition that stimulates the development of autonomous and intelligent flying robots for inspection and operation in pipeline lanes and oil installations. In this context, this work presents the system developed by the BDP-UaiFly Team for the 2022 competition, using the off-the-shelf Parrot Bebop 2 to execute the Equipment Transport phase. This paper presents in detail the system platform and the navigation and sensing strategies implemented for autonomous navigation and image processing. In particular, the strategy adopted for cargo transportation based on servo-visual control is presented. Practical experiments validate the proposed solutions for the phases of the challenge.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"64 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":"134509516","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
Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane 变斜四面增量非线性动态反演控制器
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156289
T.M.L. De Ponti, E. Smeur, B. Remes
{"title":"Incremental Nonlinear Dynamic Inversion controller for a Variable Skew Quad Plane","authors":"T.M.L. De Ponti, E. Smeur, B. Remes","doi":"10.1109/ICUAS57906.2023.10156289","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156289","url":null,"abstract":"This paper presents the design of an Incremental Nonlinear Dynamic Inversion (INDI) controller for the novel, patent pending (NL 2031701) platform Variable Skew Quad Plane (VSQP). Part of the identified challenges is the development of a model for the actuator effectiveness and lift especially as a function of skew, the newly added degree of freedom. The models and assumptions are verified through static and dynamic wind tunnel tests at the Open Jet Facility (OJF) of TU Delft. Transition tests have been successfully performed thanks to an automatic skew controller derived from the proposed models and aimed to maximize control authority.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"41 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":"133077757","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
Coordinated Multi-Robot Exploration using Reinforcement Learning 基于强化学习的协同多机器人探索
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156452
Atharva Mete, Malek Mouhoub, A. Farid
{"title":"Coordinated Multi-Robot Exploration using Reinforcement Learning","authors":"Atharva Mete, Malek Mouhoub, A. Farid","doi":"10.1109/ICUAS57906.2023.10156452","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156452","url":null,"abstract":"Exploring an unknown environment by multiple autonomous robots is a long-studied problem in robotics. The agents need to coordinate the exploration to minimize the overlapping region and avoid interference with each other. This is particularly challenging in decentralized execution, where no central system guides the exploration. In such scenarios, agents need to incorporate temporal planning and the intentions of other agents into the decision-making process. In this work, we focus on several challenges involved in multi-UAV exploration in unseen, unstructured, and cluttered environments. Consequently, we propose a Multi-Agent Reinforcement Learning (MARL) based framework wherein agents learn the effective strategy to allocate and explore the environment. We evaluate the performance of our proposed framework in terms of average distance traveled, percentage of redundant exploration, and the rate of exploration against a classical approach.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"45 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":"125858935","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
Neural network-based propeller damage detection for multirotors 基于神经网络的多旋翼螺旋桨损伤检测
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156355
Claudio D. Pose, J. Giribet, Gabriel Torre, Guillermo Marzik
{"title":"Neural network-based propeller damage detection for multirotors","authors":"Claudio D. Pose, J. Giribet, Gabriel Torre, Guillermo Marzik","doi":"10.1109/ICUAS57906.2023.10156355","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156355","url":null,"abstract":"This work presents a method for detecting and identificating possible damages to propeller blades in multirotor vehicles, for a particular case study of a quadrotor. The detection method is based on a neural network, which takes as input the energy of several spectral bands of the inertial measurements and control variables, and outputs a measure of how damaged a propeller is. The ability of the network to correctly generalize from a limited dataset will be shown by training it using data gathered from an indoor, controlled environment, and testing it using data from outdoor flights.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"61 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":"123632217","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：604180095
Book学术官方微信