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A General Framework for Multi-UAV Communication Connectivity Maintenance Through Scalable Task Allocation 基于可扩展任务分配的多无人机通信连通性维护通用框架
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156595
Jiawei Cao, William Wai Lun Leong, Rodney Swee Huat Teo, Sunan Huang
{"title":"A General Framework for Multi-UAV Communication Connectivity Maintenance Through Scalable Task Allocation","authors":"Jiawei Cao, William Wai Lun Leong, Rodney Swee Huat Teo, Sunan Huang","doi":"10.1109/ICUAS57906.2023.10156595","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156595","url":null,"abstract":"Despite of great potentials of decentralized multi-UAV systems in many practical applications, limited onboard communication capabilities can significantly impact team performance. Therefore, maintaining good communication connectivity between UAVs and base stations is essential for resilience and robustness of the system. This requirement is challenging due to various factors such as group size, task locations, and communication range. In this paper, we propose a general framework for maintaining connectivity in various situations through seamless degradation from continuous connectivity to periodic/intermittent connectivity. The framework relies on emergent behavior and is built upon our previous work on scalable task allocation to provide flexibility. Extensive simulation tests are conducted to verify its effectiveness.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"26 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":"124682211","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
Battery Health Based Remaining Mission Time Prediction of UAV in Closed Loop 基于电池健康的闭环无人机剩余任务时间预测
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155875
Soha Kanso, M. Jha, K. Valavanis, J. Ponsart, D. Theilliol
{"title":"Battery Health Based Remaining Mission Time Prediction of UAV in Closed Loop","authors":"Soha Kanso, M. Jha, K. Valavanis, J. Ponsart, D. Theilliol","doi":"10.1109/ICUAS57906.2023.10155875","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155875","url":null,"abstract":"Unmanned Aerial Vehicles (UAVs) powered by Lithium Polymer (Li-Po) batteries are widely used for a wide spectrum of applications. Usage based discharge of their batteries can greatly impact the success of the UAV mission, hence the necessity to accurately estimate their State of Charge (SoC). The SoC estimate can, then, be used to predict the Remaining Mission Time (RMT), in order to improve the overall performance and reliability of UAVs. This paper presents a model-based prognosis algorithm to first estimate the SoC of Li-Po batteries and then to predict the RMT for a class of multirotor UAVs. Under closed loop tracking, the Linear Quadratic Tracker (LQT) with an integral action is implemented to control the UAV. The effectiveness of the developed control and the proposed algorithm is tested via simulations; obtained results demonstrate the efficacy of the method to accurately predict the RMT during closed loop performance.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"39 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":"124966984","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
Constrained Design Optimization of a Long-Reach Dual-Arm Aerial Manipulator for Maintenance Tasks 用于维修任务的长臂双臂航空机械臂约束设计优化
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156252
S. R. Nekoo, A. Suárez, J. Acosta, G. Heredia, A. Ollero
{"title":"Constrained Design Optimization of a Long-Reach Dual-Arm Aerial Manipulator for Maintenance Tasks","authors":"S. R. Nekoo, A. Suárez, J. Acosta, G. Heredia, A. Ollero","doi":"10.1109/ICUAS57906.2023.10156252","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156252","url":null,"abstract":"Motivated by the convenience of improving the performance of long-reach aerial manipulators in the realization of maintenance tasks on high-voltage power lines, this paper proposes a constrained design optimization method for dual-arm aerial manipulators intended to reduce the weight while increasing the workspace of the robot. This configuration, in which the arms are separated from the aerial platform through a long reach link similar to a pendulum, improves safety in the interaction with human workers, reduces the electromagnetic interference of high voltage power lines on the electronics, as well as the aerodynamic downwash effect due to the propellers. However, the long-reach link introduces undesired vibrations on the manipulator due to its flexibility, so its length imposes a trade-off between the safety of operation as a positive side-effect and vibration as a negative one. Therefore, the cost function in the optimization problem also accounts for this factor, limiting the vibration to a fixed predefined value. A recent optimization approach is used here to minimize the cost function and solve the problem, verified by particle swarm optimization as a basis to confirm the correctness of the obtained data.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"107 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":"124788058","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
Urban Air Mobility Trajectory Planning 城市空中交通轨迹规划
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156478
Stylianos Exadaktylos, Christian Vitale, P. Kolios, G. Ellinas
{"title":"Urban Air Mobility Trajectory Planning","authors":"Stylianos Exadaktylos, Christian Vitale, P. Kolios, G. Ellinas","doi":"10.1109/ICUAS57906.2023.10156478","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156478","url":null,"abstract":"The world’s population in urban areas has been increasing rapidly during the last few decades and is expected to continue to grow over the near future. With this major population increase, traffic congestion is expected to worsen significantly in urban areas, and creative solutions will be required for addressing this problem, which has a considerable environmental, economic, and societal impact on the urban population. Urban air mobility could be such an innovative solution. This work introduces urban air mobility trajectory planning, where classical receding horizon optimizations are extended to satisfy on-demand planning of safe trajectories for the aerial vehicles in large and dense environments. Specifically, for reducing the overall problem complexity, a new parameter, i.e., the safety horizon, is introduced and, to model accurately aerial vehicle location uncertainty, a mixed integer quadratic optimization problem is proposed. Extensive simulations are performed to demonstrate the applicability of the proposed framework for on-demand mobility planning in urban environments.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"32 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":"129628075","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
ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter 小型无人直升机的自适应姿态增强
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156363
Andrea Dan Ryals, Giulia Bertolani, L. Pollini, F. Giulietti
{"title":"ℒ1 adaptive attitude augmentation of a small scale unmanned helicopter","authors":"Andrea Dan Ryals, Giulia Bertolani, L. Pollini, F. Giulietti","doi":"10.1109/ICUAS57906.2023.10156363","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156363","url":null,"abstract":"In this paper, the ℒ1 attitude control augmentation of an aerobatic helicopter is described. The baseline controller is divided into two loops, an attitude loop, and an angular speed loop. The attitude loop generates an angular reference speed for the angular speed loop, which finally provides the collective commands to the helicopter. Both loops are augmented through an ℒ1 adaptive controller whose low-pass filter bandwidth is tuned considering a simplified helicopter actuation and flapping dynamics model. Simulation results are shown, and the baseline and the augmented controllers are compared.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"31 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":"129762368","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
Multivariate Data Analysis for Motor Failure Detection and Isolation in A Multicopter UAV Using Real-Flight Attitude Signals 基于真实飞行姿态信号的多旋翼无人机电机故障检测与隔离的多元数据分析
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155856
A. Ashe, Srikanth Goli, Harikumar Kandath, Deepak Gangadharan
{"title":"Multivariate Data Analysis for Motor Failure Detection and Isolation in A Multicopter UAV Using Real-Flight Attitude Signals","authors":"A. Ashe, Srikanth Goli, Harikumar Kandath, Deepak Gangadharan","doi":"10.1109/ICUAS57906.2023.10155856","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155856","url":null,"abstract":"Reconfigurable aerial platforms such as multicopter unmanned aerial vehicles (UAVs) allow the design of fail-safe systems because of inherent redundancy in actuators and sensors to maintain stability with a reduction in flight performance. The methods based on univariate and multivariate time series analysis of just the attitude signals can pave the way for modelfree systems that can be generalized across a class of UAVs like multicopters. In this paper, we present a critical analysis of real-flight attitude time-series signals and investigate them for data-driven motor fault and failure detection and isolation (FDI), specifically for multicopters configurations like quadcopters and hexacopters. We analyze flight data for different scenarios of outdoor flights, healthy and faulty, hovering and cruising, loss of efficiency, and single-rotor failure of every motor. We tested it for small to medium-sized multi-copters. The failure detection and classification are performed without relying on analytical system modeling or the knowledge of the controller.Thus, we perform three major assessments: vector autoregression (VAR) using residual variance, time-frequency analysis, and dimensionality analysis of the recorded variables, to support the classification framework. To the author’s best knowledge, it is an early attempt at laying the foundation for engineering features from streaming attitude data, instead of simulations, that works on existing open-source autopilot hardware and is agnostic to the firmware as well. This foundation allows us to implement various FDI frameworks in real-time directly using the above variables on multicopters, which drastically increases the levels of safety and scalability of unmanned flights in drone applications.","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":"129863396","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
Design and Realization of a Cable-Drogue Aerial Recharging Device for Small Electric Fixed-Wing UAVs 小型电动固定翼无人机缆索式空中充电装置的设计与实现
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155939
Liangxiu Wang, Han Li, Yunxiao Liu, J. Ai
{"title":"Design and Realization of a Cable-Drogue Aerial Recharging Device for Small Electric Fixed-Wing UAVs","authors":"Liangxiu Wang, Han Li, Yunxiao Liu, J. Ai","doi":"10.1109/ICUAS57906.2023.10155939","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155939","url":null,"abstract":"As the application scope of small electric fixed-wing unmanned aerial vehicles (UAVs) becomes increasingly broad, the limitation of endurance caused by the battery technology is also becoming more evident. This paper proposes a cable-drogue aerial recharging method to solve this problem based on the aerial refueling technology of fuel-powered aircraft. We designed and built a cable-drogue aerial recharging device for small electric fixed-wing UAVs. Using computational fluid dynamics (CFD) numerical simulations and drogue-towing flight experiments, the drag and motion characteristics of a cable-drogue model were obtained, verifying the effectiveness of the drogue-design modeling method. Finally, simulated charging tests of the aerial recharging device were completed, and the feasibility study of the cable-drogue aerial recharging method was conducted.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"70 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":"117180007","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
Enhanced Nonlinear Adaptive Control of a Novel Over-Actuated Reconfigurable Quadcopter 一种新型超驱动可重构四轴飞行器的增强非线性自适应控制
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155908
S. H. Derrouaoui, Y. Bouzid, A. Belmouhoub, M. Guiatni
{"title":"Enhanced Nonlinear Adaptive Control of a Novel Over-Actuated Reconfigurable Quadcopter","authors":"S. H. Derrouaoui, Y. Bouzid, A. Belmouhoub, M. Guiatni","doi":"10.1109/ICUAS57906.2023.10155908","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155908","url":null,"abstract":"In this paper, we address the control of a novel over-actuated reconfigurable quadcopter that can change its arms to different orientations, to form various configurations models and navigate in a crowded environment. An enhanced Adaptive Nonsingular Fast Terminal Sliding Mode Control (ANFTSMC) method is suggested to manage the impact of the external disturbances. A comparative study with the conventional Backstepping (BS) and Sliding Mode (SM) controllers is provided to illustrate and asses the efficiency of the designed approach.","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":"121185502","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
PADRE - Propeller Anomaly Data REpository for UAVs various rotor fault configurations PADRE -螺旋桨异常数据存储库，用于无人机各种旋翼故障配置
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156238
Radosław Puchalski, Marek Kołodziejczak, Adam Bondyra, Jinjun Rao, Wojciech Giernacki
{"title":"PADRE - Propeller Anomaly Data REpository for UAVs various rotor fault configurations","authors":"Radosław Puchalski, Marek Kołodziejczak, Adam Bondyra, Jinjun Rao, Wojciech Giernacki","doi":"10.1109/ICUAS57906.2023.10156238","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156238","url":null,"abstract":"The article presents a drone sensory database collected during flights with different types of propeller failures. Measurements from four accelerometers and four gyroscopes were collected during 20 flights with two types of faults occurring in different configurations in one, two, three or four rotors. The paper shows the architecture of the system and the procedure for acquiring and processing the data. Raw sensor outputs, pretreated data, and digitally processed signals were provided in a publicly available repository, the structure and purpose of which are discussed in the paper. The applicability and potential use of the shared data for other research are indicated. The provided repository should be helpful in developing methods for detecting and classifying faults in actuators of unmanned aerial vehicles (UAVs). It will be particularly useful for researchers working on data-driven methods. The default purpose of the dataset is to train artificial intelligence models that require large amounts of data.","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":"121040232","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
Position Control of Crazyflie 2.1 Quadrotor UAV Based on Active Disturbance Rejection Control 基于自抗扰控制的crazyfly 2.1四旋翼无人机位置控制
2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156505
J. Michalski, Marek Retinger, P. Kozierski, Wojciech Giernacki
{"title":"Position Control of Crazyflie 2.1 Quadrotor UAV Based on Active Disturbance Rejection Control","authors":"J. Michalski, Marek Retinger, P. Kozierski, Wojciech Giernacki","doi":"10.1109/ICUAS57906.2023.10156505","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156505","url":null,"abstract":"This paper presents the active disturbance rejection control (ADRC) algorithm applied to control the position of the small flying robot Crazyflie 2.1 in two degrees of freedom (movement in x and y axis). The platform and its functionalities, such as physical attributes and a communication system, were presented. Discrete proportional-integral-derivative (PID) and ADRC controllers were implemented and tuned. Furthermore, comparative tests were performed. Sensory data from the OptiTrack motion capture system was used in real flight experiments, ensuring high precision of measurements and high sampling frequency. Selected time plots and numerical quality indices were compared, especially for different ADRC controller gains. Based on the obtained results, one can conclude about some advantages of the ADRC method for nonlinear system, such as a drone. The presented approach additionally, once tuned, theoretically works fine for any object model.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"404 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":"122777117","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
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