2021 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第10页

Computationally Efficient RGB-T UAV Detection and Tracking System 计算效率高的RGB-T无人机探测与跟踪系统

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476750

Daitao Xing, Athanasios Tsoukalas, Nikolaos Giakoumidis, A. Tzes

{"title":"Computationally Efficient RGB-T UAV Detection and Tracking System","authors":"Daitao Xing, Athanasios Tsoukalas, Nikolaos Giakoumidis, A. Tzes","doi":"10.1109/ICUAS51884.2021.9476750","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476750","url":null,"abstract":"In this work, we propose a long-term UAV detection and tracking system from RGB-Thermal (RGB-T) sequences. The system consists of a high resolution daylight visible camera and a thermal camera mounted on a UAV (airborne), for the detection of flying intruders. The framework is composed of the detection and tracking modules. The primary detection module based on the YOLOv4 method is optimized for small UAV detection and works both on the RGB and Thermal domains. To alleviate the issue of temporarily losing the intruder, we employ a discriminative correlation filter based object tracker, which is initialized with the output of the detection module and tracks the target at a higher speed. The dimensionality reduction is applied to the features for tracking to improve the performance. Meanwhile, we utilize the infrared signal as a spatial regularization term of the tracker to suppress the boundary effects that stem from circular convolution, leading to a more robust appearance model and tracking performance. The tracker is efficiently optimized via the Alternating Direction Method of Multiplier (ADMM). We evaluate our method on multiple visual and thermal tracking benchmarks, as well as field tests with a prototype platform. The experimental results demonstrate that our system can achieve accurate, robust and continuous detection and tracking of UAVs under complex circumstances.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"29 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":"123342784","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

Design and Flight Test Validation of a UAS Lateral-directional Model Predictive Controller 一种无人机横向模型预测控制器的设计与试飞验证

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476811

Mozammal Chowdhury, S. Keshmiri, Jeffrey Xu

{"title":"Design and Flight Test Validation of a UAS Lateral-directional Model Predictive Controller","authors":"Mozammal Chowdhury, S. Keshmiri, Jeffrey Xu","doi":"10.1109/ICUAS51884.2021.9476811","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476811","url":null,"abstract":"Recent advances in computer technologies have increased the processing power on-board unmanned aerial aircraft. Computationally potent avionic systems have provided new opportunities to implement more adaptive and capable flight controllers. Model predictive control is emerging as a method for controlling unmanned aircraft, satisfying state and control constraints, and improving aircraft performance in the presence of external disturbances and nonlinear and unsteady aerodynamics. Although model predictive controllers provide many advantages over classical or modern control methods (such as PID or LQR), their practical applications have been limited to high-level path plannings, guidance logic, and control of slow robots with less complex dynamics. This work presents the development of an inner-loop model predictive control flight controller and successful validation and verification of its performance in actual flight tests. The work also investigates the impact of number of horizon points on the performance of the model predictive controller in the presence of wind and other external disturbances.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"21 2 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":"117253579","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

Adaptive Control of Unmanned Quadrotor with Partial Actuator Failure using Model Reference Adaptive Control (MRAC) with Dynamic Inversion 基于动态反演模型参考自适应控制(MRAC)的部分作动器失效无人四旋翼飞行器自适应控制

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476830

Anmol Agarwal, Ee Meng Ng, K. Low

引用次数: 2

Vision-Based Sense and Avoid with Monocular Vision and Real-Time Object Detection for UAVs 基于视觉的无人机单目感知与躲避与实时目标检测

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476746

W. L. Leong, Pengfei Wang, Sunan Huang, Zhengtian Ma, Hong Yang, Jingxuan Sun, Yu Zhou, Mohamed Redhwan Abdul Hamid, S. Srigrarom, R. Teo

引用次数: 6

Ring Formation Maneuvering with Double Integrator Dynamics* 环形编队机动与双积分器动力学*

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476770

Dzung Tran, D. Casbeer, Eloy García, Isaac E. Weintraub, D. Milutinović

引用次数: 2

Emergency Landing Decision Method for Unmanned Aircraft 无人机紧急降落决策方法

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476792

Aitor R. Gómez, A. la Cour-Harbo

引用次数: 1

Aircraft Inspection by Multirotor UAV Using Coverage Path Planning 基于覆盖路径规划的多旋翼无人机飞机检测

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476718

Patrick Silberberg, R. Leishman

{"title":"Aircraft Inspection by Multirotor UAV Using Coverage Path Planning","authors":"Patrick Silberberg, R. Leishman","doi":"10.1109/ICUAS51884.2021.9476718","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476718","url":null,"abstract":"All military and commercial aircraft must undergo frequent visual inspections in order to identify damage that could pose a danger to safety of flight. Currently, these inspections are primarily conducted by maintenance personnel. Inspectors must scrutinize the aircraft's surface to find and document defects such as dents, hail damage, broken fasteners, etc.; this is a time consuming, tedious, and hazardous process. The goal of this work is to develop a visual inspection system which can be used by an Unmanned Aerial Vehicle (UAV), and to test the feasibility of this system on military aircraft. Using an autonomous system in place of trained personnel will improve the safety and efficiency of the inspection process. Open-source software for coverage path planning (CPP) is modified and used to create a path from which the UAV can view the entire top surface of the aircraft. Simulated and experimental flight testing is conducted to validate the generated paths by collecting imagery, flight data, and coverage estimates. Simulation is also used to predict UAV performance for an inspection of a full-size aircraft. Analysis shows that multirotor UAVs are a viable inspection platform for military aircraft.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"250 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":"132084484","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: 4

Comparison of Value Iteration, Policy Iteration and Q-Learning for solving Decision-Making problems 价值迭代、策略迭代和q -学习在解决决策问题中的比较

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476691

M. Hamadouche, C. Dezan, D. Espès, K. Branco

{"title":"Comparison of Value Iteration, Policy Iteration and Q-Learning for solving Decision-Making problems","authors":"M. Hamadouche, C. Dezan, D. Espès, K. Branco","doi":"10.1109/ICUAS51884.2021.9476691","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476691","url":null,"abstract":"21st century has seen a lot of progress, especially in robotics. Today, the evolution of electronics and computing capacities allows to develop more precise, faster and autonomous robots. They are able to automatically perform certain delicate or dangerous tasks. Robots should move, perceive their environment and make decisions by taking into account the goal(s) of a mission under uncertainty. One of the most current probabilistic model for description of missions and for planning under uncertainty is Markov Decision Process (MDP). In addition, there are three fundamental classes of methods for solving these MDPs: dynamic programming, Monte Carlo methods, and temporal difference learning. Each class of methods has its strengths and weaknesses. In this paper, we present our comparison on three methods for solving MDPs, Value Iteration and Policy Iteration (Dynamic Programming methods) and Q-Learning (Temporal-Difference method). We give new criteria to adapt the decision-making method to the application problem, with the parameters explanations. Policy Iteration is the most effective method for complex (and irregular) scenarios, and the modified Q-Learning for simple (and regular) scenarios. So, the regularity aspect of the decision-making has to be taken into account to choose the most appropriate resolution method in terms of execution time. Numerical simulation shows the conclusion results over simple and regular case of the grid, over the irregular case of the grid example and finally over the mission planning of an Unmanned Aerial Vehicle (UAV), representing is a very irregular case. We demonstrate that the Dynamic Programming (DP) methods are more efficient methods than the Temporal-Difference (TD) method while facing an irregular set of actions.","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":"121594647","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

ICUAS'21 Technical Sessions and Content List ICUAS'21技术会议和内容列表

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476727

引用次数: 0

Teleoperated aerial manipulator and its avatar. Communication, system's interconnection, and virtual world 遥控空中机械手及其化身。通信、系统互联、虚拟世界

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476884

Rodolfo Verdín, G. Ramírez, Carlos Rivera, G. Flores

引用次数: 4