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A Review of Consensus-based Multi-agent UAV Applications 基于共识的多智能体无人机应用综述
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476858
F. Lizzio, E. Capello, G. Guglieri
{"title":"A Review of Consensus-based Multi-agent UAV Applications","authors":"F. Lizzio, E. Capello, G. Guglieri","doi":"10.1109/ICUAS51884.2021.9476858","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476858","url":null,"abstract":"In this paper, a review of distributed control for multi-agent systems is proposed, focusing on consensus-based applications. Both rotary-wing and fixed-wing Unmanned Aerial Vehicles (UAVs) are considered. On one side, methodologies and implementations based on collision and obstacle avoidance through consensus are analyzed for multirotor UAVs. On the other hand, a target tracking through consensus is considered for fixed-wing UAVs. This novel approach to classify the literature could help researchers to assess the outcomes achieved in these two directions in view of potential practical implementations of consensus-based methodologies.","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":"133522210","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
Survey and Evaluation of Sensors for Overhead Cable Detection using UAVs 无人机架空电缆探测传感器的研究与评价
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476724
N. Malle, F. F. Nyboe, E. Ebeid
{"title":"Survey and Evaluation of Sensors for Overhead Cable Detection using UAVs","authors":"N. Malle, F. F. Nyboe, E. Ebeid","doi":"10.1109/ICUAS51884.2021.9476724","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476724","url":null,"abstract":"Inspecting overhead cables using autonomous Unmanned Aerial Vehicles (UAVs) is an affordable and promising future solution for providing a clear picture of the energy infrastructure. However, most of today's UAVs for powerline inspection are designed to use the Global Navigation Satellite System (GNSS) to follow the power pylons which compromises the detection accuracy. In this paper, we provide an overview of the current state-of-the-art in sensors that can be used to remotely detect power lines using UAVs. The work compares 20+ low-cost, low-power, and light-weight sensors. The performance of 6 different kinds of sensors is evaluated thoroughly in a real outdoor powerline test setup using a custom UAV. The sensor data is obtained and analyzed using Robot Operating System (ROS) and is provided openly.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"72 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":"133139978","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
Investigating Malware-in-the-Loop Autopilot Attack Using Falsification of Sensor Data 利用传感器数据伪造调查恶性软件在环自动驾驶攻击
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476717
Garrett A. Jares, J. Valasek
{"title":"Investigating Malware-in-the-Loop Autopilot Attack Using Falsification of Sensor Data","authors":"Garrett A. Jares, J. Valasek","doi":"10.1109/ICUAS51884.2021.9476717","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476717","url":null,"abstract":"The proliferation of unmanned air systems (UAS) in recent years has provided advanced capabilities in many fields and industries. However, this widespread usage of UAS has also introduced many cyber threats. One of the primary threats faced by UAS is the threat of hijacking by cyber attack. This paper seeks to investigate and understand this threat by implementing and validating a cyber hijacking attack on a UAS using a software-in-the-loop simulation. The relevant control theory necessary to develop the attack is explained and demonstrated on a generic linear second-order system, and the attack is implemented in a Gazebo simulation and demonstrated on a quadcopter using the ArduCopter autopilot. This simulation permitted evaluation of the attack throughout several experiments. The experiments allowed for evaluation of the attack under multiple different flight conditions. Simulation results presented in the paper demonstrate that the attack poses a legitimate threat to UAS. The attacker demonstrates successful performance when the vehicle is attempting to hold position, but demonstrates only marginal control over the vehicle when it is attempting to fly to a desired position.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"41 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":"116224884","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
Design of an Aerial Manipulator System Applied to Capture Missions 用于捕获任务的空中机械臂系统设计
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476743
Wenyu Zhang, Qianyuan Liu, Meng Wang, Jindou Jia, S. Lyu, Kexin Guo, Xiang Yu, Lei Guo
{"title":"Design of an Aerial Manipulator System Applied to Capture Missions","authors":"Wenyu Zhang, Qianyuan Liu, Meng Wang, Jindou Jia, S. Lyu, Kexin Guo, Xiang Yu, Lei Guo","doi":"10.1109/ICUAS51884.2021.9476743","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476743","url":null,"abstract":"This paper proposes the design of an aerial manipulator system for capture missions. A novel mechanical layout is designed. A 5-degree-of freedom manipulator and the battery are placed at the front and back part of a quadrotor unmanned aerial vehicle (UAV) respectively. This layout can expand the task space and minimize the shift of the center of mass. To improve the success rate of capture, inspired by the predation maneuver of birds, online trajectory generation law for capture mission is proposed. The aerial manipulator points towards its target during the flight. Experimental results show that the proposed aerial manipulator system can capture the target on a moving platform successfully.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"16 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":"122013271","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: 5
Adaptive Fault-Tolerant Control of Fixed-wing UAV Under Actuator Saturation and State Constraints 执行器饱和和状态约束下的固定翼无人机自适应容错控制
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476716
Minrui Fu, Ziquan Yu, Youmin Zhang
{"title":"Adaptive Fault-Tolerant Control of Fixed-wing UAV Under Actuator Saturation and State Constraints","authors":"Minrui Fu, Ziquan Yu, Youmin Zhang","doi":"10.1109/ICUAS51884.2021.9476716","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476716","url":null,"abstract":"This paper proposes a fault-tolerant control (FTC) scheme for unmanned aerial vehicles (UAVs) with state constraints, actuator saturation, and faults. Firstly, a nonlinear mapping function is designed to transform the limited states into new unlimited states. Furthermore, based on the transformed system, neural network (NN) is used to approximate the unknown nonlinear function caused by the parametric uncertainties, external disturbances, and actuator faults. Then, dynamic surface control (DSC) technique is used to solve the problem of “explosion of complexity”. Moreover, an auxiliary system is designed to avoid actuator saturation and a Nussbaum function is used to simplify solving the inverse of the matrix in the auxiliary system. Finally, the Lyapunov method is used to prove the correctness of the FTC scheme, and simulation results show the effectiveness of this scheme.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"39 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":"130441188","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
Trim point transitions via I/O decoupling controllers for 6DOF quadrotors* 修剪点过渡通过I/O解耦控制器为6DOF四旋翼*
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476747
N. Kouvakas, F. Koumboulis
{"title":"Trim point transitions via I/O decoupling controllers for 6DOF quadrotors*","authors":"N. Kouvakas, F. Koumboulis","doi":"10.1109/ICUAS51884.2021.9476747","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476747","url":null,"abstract":"The problem of trim point transitions is investigated for 6DOF quadrotors, using I/O decoupling controllers. The linear approximant of the quadrotor is derived in parametric form with respect to the physical parameters of the nonlinear model and the trim points. Based upon the linear approximant, a static state feedback control law achieving I/O decoupling, command following and arbitrary pole assignment for the linear approximant of the closed loop system, is derived. The controller is expressed in terms of the physical parameters and the closed loop characteristic polynomial arbitrary coefficients. To increase the range of accurate transition among different trim points of the nonlinear model, appropriate cost criteria are used and a trim point transition algorithm is proposed. The performance of the overall scheme is demonstrated through simulation results.","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":"129849993","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
Multiple Lane UAV Corridor Planning for Urban Mobility System Applications 多车道无人机廊道规划在城市交通系统中的应用
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476854
V. Challa, Mohit Gupta, Ashwini Ratnoo, D. Ghose
{"title":"Multiple Lane UAV Corridor Planning for Urban Mobility System Applications","authors":"V. Challa, Mohit Gupta, Ashwini Ratnoo, D. Ghose","doi":"10.1109/ICUAS51884.2021.9476854","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476854","url":null,"abstract":"The aim of this work is to achieve smooth multiple parallel paths (lanes) confined within a bounded volume (corridor) through controlled airspace in urban scenarios. The problem is formulated as two subproblems: cross-section planning and corridor planning. The corridor cross-section is optimized for minimizing the corridor width for the required number of parallel paths while taking into account the downwash effects. Corridor planning utilizes a modified $A^{ast}$ algorithm for waypoint generation in conjunction with a logistic curve based path for smoothly connecting these waypoints while accounting for curvature limits of individual paths. Waypoint heading angles are optimized to find minimum length corridor. The work provides an optimal solution of corridor planning with the capability of accommodating multiple UAVs simultaneously.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"32 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":"126205993","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
Cooperative route planning of multiple fuel-constrained Unmanned Aerial Vehicles with recharging on an Unmanned Ground Vehicle 多燃料约束无人机在地面无人车上充电的协同航路规划
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476848
S. Ramasamy, Jean-Paul F. Reddinger, James M. Dotterweich, Marshal A. Childers, Pranav A. Bhounsule
{"title":"Cooperative route planning of multiple fuel-constrained Unmanned Aerial Vehicles with recharging on an Unmanned Ground Vehicle","authors":"S. Ramasamy, Jean-Paul F. Reddinger, James M. Dotterweich, Marshal A. Childers, Pranav A. Bhounsule","doi":"10.1109/ICUAS51884.2021.9476848","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476848","url":null,"abstract":"Multiple small, low cost, multi-rotor Unmanned Aerial Vehicles (UAVs) are ideal for aerial surveillance over large areas. However, their limited battery capacity restricts them to areas in proximity of stationary recharging depots. One solution is to use an Unmanned Ground Vehicle (UGV) to provide a moving recharging depot. The problem is then to find the time-or energy-optimal paths for the multiple fuel-constrained UAVs to visit a set of mission points while being recharged by stopping at the UGV, whose path also needs to be determined. This is a combinatorial optimization problem that is computationally challenging, but may be solved relatively fast using heuristics. In this paper, we present two-level optimization that involves, (1) finding a UGV path by fixing waypoints using K-means and then formulating and solving a traveling salesman problem (TSP), and (2) finding paths for the multiple UAVs using a vehicle routing problem (VRP) formulation with capacity constraints, time windows, and dropped visits. We used constraint programming to solve these problems in less than a minute on a standard desktop computer for up to 25 mission points and 4 UAVs. Our main observation is that increasing the number of UAVs decreases the mission time and refueling stops, but does not decrease the total distance covered or total time taken.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"32 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":"126564418","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: 7
Unified control solution for mobile robot formations 移动机器人编队统一控制方案
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476675
C. Rosales, F. Rossomando, L. Salinas, J. Gimenez, R. Carelli
{"title":"Unified control solution for mobile robot formations","authors":"C. Rosales, F. Rossomando, L. Salinas, J. Gimenez, R. Carelli","doi":"10.1109/ICUAS51884.2021.9476675","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476675","url":null,"abstract":"This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.","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":"117048112","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
Planning Parcel Relay Manoeuvres for Quadrotors 规划包裹接力机动四旋翼机
2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI: 10.1109/ICUAS51884.2021.9476757
J. Pinto, Bruno J. Guerreiro, R. Cunha
{"title":"Planning Parcel Relay Manoeuvres for Quadrotors","authors":"J. Pinto, Bruno J. Guerreiro, R. Cunha","doi":"10.1109/ICUAS51884.2021.9476757","DOIUrl":"https://doi.org/10.1109/ICUAS51884.2021.9476757","url":null,"abstract":"In this paper, a strategy for planning aggressive collision-free parcel relay manoeuvres for quadrotors is proposed. The method relies on the generation of optimal polynomial trajectories with acceleration constraints in order to coordinate the attitude of the vehicles during the package exchange. The problem is formulated as a mixed-integer quadratic program where the integer constraints ensure collision avoidance. The manoeuvre is divided into three phases and the dynamical model of the robots is considered to ensure the vehicles keep a suitable relative orientation during the parcel transfer. Simulation results demonstrate the success of the presented strategy.","PeriodicalId":423195,"journal":{"name":"2021 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"58 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":"124544751","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
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