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2021 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

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Air-ground cooperative exploration of 3D complex environment with maximized visibility and obstacles avoidance 具有最大可见度和避障能力的三维复杂环境的空地协同探索
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476714
Yuxuan Wu, Jing Wang, Meng Zhou, Zhe Dong, Y. Chen
{"title":"Air-ground cooperative exploration of 3D complex environment with maximized visibility and obstacles avoidance","authors":"Yuxuan Wu, Jing Wang, Meng Zhou, Zhe Dong, Y. Chen","doi":"10.1109/ICUAS51884.2021.9476714","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476714","url":null,"abstract":"Unmanned aerial vehicles (UAVs) can provide vision at high altitude. In this paper, multi-UAVs and ground vehicle are utilized to explore a complex environment with obstacles. The desired UAV formation is proposed around ground vehicle to provide wider vision. The Interfered Fluid Dynamical System (IFDS) method is utilized to guide UAVs avoid obstacles, while the desired formation need be maintained. Then formation control scheme of multi-UAVs is updated to combine with IFDS method according to original formation and obstacles avoidance. Simulation results shows that multi-UAVs can avoid obstacles and maintain the desired formation around ground vehicle during exploration.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115303627","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
Multi-UAV Method for Continuous Source Rate Estimation of Fugitive Gas Emissions from a Point Source 点源无组织气体排放连续源速率估计的多无人机方法
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476728
Derek Hollenbeck, Y. Chen
{"title":"Multi-UAV Method for Continuous Source Rate Estimation of Fugitive Gas Emissions from a Point Source","authors":"Derek Hollenbeck, Y. Chen","doi":"10.1109/ICUAS51884.2021.9476728","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476728","url":null,"abstract":"A multi unmanned aerial vehicle (UAV) based method for making continuous source rate estimations is proposed. The multi-UAV method utilizes the signal processing, spatial interpolation, and data-driven techniques to apply centroidal Voronoi tessellations (CVT) based coverage control. The method uses low frequency modes from dynamic mode decomposition (DMD) as the CVT density kernel. The method also employs an ordinary kriging estimation variance based entropy as a regularization term to improve exploration behavior. A 3D short time-scale plume simulation model (POSIM) is used to test the continuous source rate estimation performance.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117233599","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: 6
Online Trajectory Planning with Application to an UAV Relay Station 无人机中继站在线轨迹规划及其应用
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476868
Michael Schwung, J. Lunze
{"title":"Online Trajectory Planning with Application to an UAV Relay Station","authors":"Michael Schwung, J. Lunze","doi":"10.1109/ICUAS51884.2021.9476868","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476868","url":null,"abstract":"This paper presents a new online trajectory planning method for an unmanned aerial vehicle (UAV) acting as an aerial base station for the communication relay between moving ground vehicles, which have different quality-of-service (QoS) requirements. The ground vehicles follow locally planned trajectories, which are communicated to the aerial base station. The UAV possesses a network estimator, which determines the channel properties between the UAV and each ground vehicle and a trajectory planning unit, which changes the UAV trajectory online whenever the estimated QoS violates the requirements. The aim is to keep all individual requirements of the vehicles fulfilled during their movement. In contrast to literature, the method adjusts the UAV trajectory online to ensure the communication relay to moving vehicles with different QoS requirements. The effectiveness of the method is shown in two simulation scenarios.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125078129","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
Near-Optimal Coverage Path Planning of Distributed Regions for Aerial Robots with Energy Constraint 具有能量约束的空中机器人分布区域近最优覆盖路径规划
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476696
Zeba Khanam, K. Mcdonald-Maier, Shoaib Ehsan
{"title":"Near-Optimal Coverage Path Planning of Distributed Regions for Aerial Robots with Energy Constraint","authors":"Zeba Khanam, K. Mcdonald-Maier, Shoaib Ehsan","doi":"10.1109/ICUAS51884.2021.9476696","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476696","url":null,"abstract":"Unmanned Aircraft Vehicles (UAVs) have gained immense popularity for area coverage having applications such as environmental monitoring, demining, search and rescue, among others. Most of the existing studies exploring area coverage have considered only a single region, however, few recent studies have considered coverage of multiple distributed regions. One of the limitations which UAV suffers while covering distributed multiple regions is energy constraints where complete area coverage is not possible. From a strategical point of view, we propose a novel algorithm which solves a variant of area coverage problem where the UAV aims to achieve near-optimal area coverage due to path length limitation caused by the energy constraint. In this paper, a preliminary study is conducted by first formulating the problem and later on presenting a solution. The solution has been partitioned into two inter-dependent sub-problems: i) inter-region coverage, ii) intra-region coverage. The performance of the algorithm has been evaluated by analysing its properties over an exhaustive set of test case scenarios and comparing it against two state-of-the-art area coverage approaches.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123547866","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: 3
Thrust-to-Weight Ratio Optimization for Multi-Rotor Drones Using Neural Network with Six Input Parameters 基于六输入参数神经网络的多旋翼无人机推重比优化
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476744
Tony Oliver Mogorosi, R. Jamisola, N. Subaschandar, L. O. Mohutsiwa
{"title":"Thrust-to-Weight Ratio Optimization for Multi-Rotor Drones Using Neural Network with Six Input Parameters","authors":"Tony Oliver Mogorosi, R. Jamisola, N. Subaschandar, L. O. Mohutsiwa","doi":"10.1109/ICUAS51884.2021.9476744","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476744","url":null,"abstract":"This study analyzes the thrust-to-weight ratio of a multi-rotor drones with respect to six different parameters using neural network. The parameters are the model weight, number of propellers, frame size, propeller diameter, propeller pitch and number of blades. An online calculation tool called eCalc is used to collect data to build a neural network model. The model has an accuracy of 97% when compared to an eCalc computed data. From this model, we optimize the thrust-to-weight ratio using gradient descent method initialized from the collected eCalc data. We ran another optimization computation by fixing two parameters to satisfy available components in the market. Optimization results are showed and analyzed.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116106879","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: 2
Development and implementation of a new flight mode called Cartesian flight mode for easy piloting of muli-rotor UAVs 开发和实现了一种新的飞行模式，称为笛卡尔飞行模式，便于多旋翼无人机的驾驶
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476827
A. Flores, G. Flores
{"title":"Development and implementation of a new flight mode called Cartesian flight mode for easy piloting of muli-rotor UAVs","authors":"A. Flores, G. Flores","doi":"10.1109/ICUAS51884.2021.9476827","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476827","url":null,"abstract":"This paper presents the development and implementation of a variant of the manual flight mode, the Cartesian mode, which consists of the directional control of a multi-rotor UAV w.r.t. its heading and pilot's heading. The main objective of the presented flight mode is to ease the manual displacement control while the pilot has a ground Point of View (POV). The flight mode's concept is implemented in the PX4 firmware under Software-in-the-Loop (SITL) simulations and real flights to assess its performance applied to a real quad-rotor. The results obtained during simulations and real experiments show that the flight mode performs correctly.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"136 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116380017","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 Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments 一种用于混乱和gps拒绝环境下的多无人机探测与目标发现系统
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476820
Xiaolong Zhu, F. Vanegas, Felipe Gonzalez, Conrad Sanderson
{"title":"A Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments","authors":"Xiaolong Zhu, F. Vanegas, Felipe Gonzalez, Conrad Sanderson","doi":"10.1109/ICUAS51884.2021.9476820","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476820","url":null,"abstract":"The use of multi-rotor Unmanned Aerial Vehicles (UAVs) for Search and Rescue (SAR) and Remote Sensing is rapidly increasing. Multi-rotor UAVs, however, have limited endurance. The range of UAV applications can be widened if teams of multiple UAVs are used. We propose a framework for a team of UAVs to cooperatively explore and find a target in complex GPS-denied environments with obstacles. The team of UAVs autonomously navigates, explores, detects, and finds the target in a cluttered environment with a known map. Examples of such environments include indoor scenarios, urban or natural canyons, caves, and tunnels, where the GPS signal is limited or blocked. The framework is based on a probabilistic Decentralised Partially Observable Markov Decision Processes (Dec-POMDP) which accounts for the uncertainties in sensing and the environment. The team can cooperate efficiently, with each UAV sharing only limited processed observations and their locations during the mission. The system is simulated using the Robotic Operating System (ROS) and Gazebo. Performance of the system with an increasing number of UAVs in several indoor scenarios with obstacles is tested. Results indicate that the proposed multi-UAV system has improvements in terms of time-cost, the proportion of search area surveyed, and successful rates for search and rescue missions.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122290441","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: 6
Low Electromagnetic Interference Design and Simulation of Lithium Battery Powered UAV 锂电池驱动无人机低电磁干扰设计与仿真
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476833
Jiahao Ge, Li Liu, Yuntao He, Xiao Cao
{"title":"Low Electromagnetic Interference Design and Simulation of Lithium Battery Powered UAV","authors":"Jiahao Ge, Li Liu, Yuntao He, Xiao Cao","doi":"10.1109/ICUAS51884.2021.9476833","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476833","url":null,"abstract":"Electromagnetic Interference (EMI) is the main disturbance source of magnetic compass. On the basis of EMI analysis, a low EMI design method of lithium battery powered UAV is proposed and verified through virtual trajectories. The EMI modeling is based on the electric circuit analysis of lithium battery powered UAV and the power supply principle of lithium battery. On the one hand, the low EMI design is carried out by optimizing the inclination angle of lithium battery. On the other hand, trajectory planning using kinodynamic RRT* algorithm is chosen as the verification method to reveal the effect of reducing EMI during flight. The results show that the average EMI of lithium battery can be reduced by more than 95% through the proposed method.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"89 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124609867","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
Rogue Agent Identification and Collision Avoidance in Formation Flights using Potential Fields 基于势场的编队飞行流氓Agent识别与避碰
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476866
Ravinder Kumar Jyoti, Mohit Malhotra, D. Ghose
{"title":"Rogue Agent Identification and Collision Avoidance in Formation Flights using Potential Fields","authors":"Ravinder Kumar Jyoti, Mohit Malhotra, D. Ghose","doi":"10.1109/ICUAS51884.2021.9476866","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476866","url":null,"abstract":"In this paper, an artificial potential field based technique is proposed for maintaining a formation of drones, for identifying rogue drones, and for avoiding collision with obstacles and rogue drones. Rogue drone identification is done by using a threshold potential value which is also used to identify the threat level of neighbouring drones. A novel assistive potential field concept is introduced to implement a collision avoidance strategy that helps the formation to avoid collision with the rogue drone as well as other obstacles. A pair of hyperplanes are defined using which the repulsive forces are generated. Simulations are presented to demonstrate the efficacy of the approach.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130390950","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: 3
Appraisal of Autonomous Swarms through Analysis of Observed Behavior 通过观察行为分析对自治蜂群的评价
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476771
S. Helble, Andrew Guinn, Joshua Blake
{"title":"Appraisal of Autonomous Swarms through Analysis of Observed Behavior","authors":"S. Helble, Andrew Guinn, Joshua Blake","doi":"10.1109/ICUAS51884.2021.9476771","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476771","url":null,"abstract":"Swarms of autonomous vehicles are capable of performing complex missions in a variety of applications. Functions inherent to these missions include obstacle avoidance and collaboration with other swarm members. The logic for guiding autonomous agents through these functions can result in unanticipated emergent behaviors. Commanders of complex autonomous missions need a way to gain confidence in a swarm's behavior and detect adversarial behavior at runtime without inhibiting operations. The research described in this paper explores using measurements and analysis of external, observable characteristics, such as location data, to detect adversarial behavior in a simulated homogeneous swarm for a set of well-defined use cases. Initial results using directional and positional entropy of individual agents and the DBSCAN clustering algorithm demonstrate that measurements of external characteristics are a promising addition to a commander's toolset. Further research should be performed to determine the applicability to a broader set of use cases.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121187250","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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