2019 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第3页

Mission planning strategy for multirotor UAV based on flight endurance estimation* 基于飞行续航力估计的多旋翼无人机任务规划策略*

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8798292

R. Schacht-Rodríguez, J. Ponsart, C. García-Beltrán, C. Astorga-Zaragoza, D. Theilliol

引用次数: 7

Visual Servoing for Multirotor Precision Landing in Daylight and After-Dark Conditions 多旋翼在白天和黑夜条件下精确着陆的视觉伺服

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8798020

Jesse S. Wynn, T. McLain

引用次数: 12

Formation Control and Navigation of a Quadrotor Swarm 四旋翼飞行器群的编队控制与导航

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8798352

Malintha Fernando, Lantao Liu

引用次数: 10

Exploiting Ground and Ceiling Effects on Autonomous UAV Motion Planning 地面和天花板效应在自主无人机运动规划中的应用

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8798091

Shijie Gao, Carmelo Di Franco, Darius Carter, D. Quinn, N. Bezzo

{"title":"Exploiting Ground and Ceiling Effects on Autonomous UAV Motion Planning","authors":"Shijie Gao, Carmelo Di Franco, Darius Carter, D. Quinn, N. Bezzo","doi":"10.1109/ICUAS.2019.8798091","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798091","url":null,"abstract":"Micro Aerial Vehicles (MAVs) and in particular quadrotors have gained a lot of attention because of their small size, stable, robust, and diverse sensing capabilities that make them perfect test beds in several safety critical operations. Shrinking these vehicles is desirable since agility increases. However, it entails smaller power sources and hence less flight time. Adding sensors on these systems also implies more energy consumption due to both the added weight and the supplied energy to the sensors. In this work, we build a framework to leverage the flow dynamic effects near surfaces to recognize grounds and ceilings during operations and to plan a trajectory while minimizing energy consumption. Our proposed framework leverages data from real experiments to model the behavior of the system near surfaces and graph theoretical approaches for energy efficient motion planning. As a result, this study indicates that i) we can detect surfaces during operations without the need of extra onboard sensors and ii) we can minimize energy consumption up to 15% when the system can fly near ground or ceiling surfaces. The proposed framework is validated with experimental results on a quadrotor UAV.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"162 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121183675","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: 13

A Survey of Artificial Neural Networks with Model-based Control Techniques for Flight Control of Unmanned Aerial Vehicles 基于模型的人工神经网络无人机飞行控制技术综述

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8797853

Weibin Gu, K. Valavanis, M. Rutherford, A. Rizzo

引用次数: 12

Grid-Based Coverage Path Planning With Minimum Energy Over Irregular-Shaped Areas With Uavs 无人机不规则区域最小能量网格覆盖路径规划

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8797937

T. Cabreira, P. Ferreira, Carmelo Di Franco, G. Buttazzo

{"title":"Grid-Based Coverage Path Planning With Minimum Energy Over Irregular-Shaped Areas With Uavs","authors":"T. Cabreira, P. Ferreira, Carmelo Di Franco, G. Buttazzo","doi":"10.1109/ICUAS.2019.8797937","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797937","url":null,"abstract":"Grid-based methods have been proposed to solve the Coverage Path Planning problem using Unmanned Aerial Vehicles in irregular-shaped areas since simple geometric flight patterns, such as the back-and-forth, are inefficient in this type of scenario. However, the grid-based methods usually apply simplistic cost functions and demand high computational time leading to inefficient and expensive paths, making them not usable in real-world scenarios. This paper introduces an energy-aware grid-based approach aimed at minimizing energy consumption during mapping missions over irregular-shaped areas. Our work was built upon a previously proposed grid-based approach. Here we introduce an energy-aware cost function based on an accurate energy model. The proposed approach was able to save up to 17% of energy in real flight experiments, proving that the original cost function was not capable of finding the optimal solution in terms of real energy measurements. Additional simulation experiments were also performed to state the energy savings in different irregular-shaped scenarios. As a further contribution, we also applied two pruning techniques to the original approach dropping the computation time up to 99%.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116273926","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: 33

Robust Multi-UAV Route Planning Considering UAV Failure 考虑无人机故障的鲁棒多无人机航路规划

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8797949

Ruchir Patel, Eliot Rudnick-Cohen, S. Azarm, J. Herrmann

引用次数: 1

Robustness Studies on Quadrotor Control 四旋翼飞行器控制鲁棒性研究

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8798198

J. Brossard, D. Bensoussan, R. Landry, M. Hammami

引用次数: 12

Multi-UAS Path-Planning for a Large-scale Disjoint Disaster Management 大规模离散灾害管理的多无人机路径规划

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8797950

Younghoon Choi, Youngjun Choi, Simon Briceno, D. Mavris

引用次数: 5

Pitch and Roll Effects of On-board Wind Measurements Using sUAS 使用sUAS的机载风测量的俯仰和横摇效应

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-11 DOI: 10.1109/ICUAS.2019.8797707

Derek Hollenbeck, Madoka Oyama, A. Garcia, Y. Chen

引用次数: 5