2019 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第8页

Flight patterns for clouds exploration with a fleet of UAVs 无人机编队云探测飞行模式

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797953

Titouan Verdu, G. Hattenberger, S. Lacroix

引用次数: 6

A Fast, Robust and Decentralized Approach for Altitude De-confliction of Multiple UAVs 一种快速、鲁棒和分散的多无人机高度冲突解耦方法

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797730

Jiawei Cao, R. Teo, Sunan Huang, Qinyuan Ren

引用次数: 4

A Novel Quadcopter with A Tilting Frame using Parallel Link Mechanism 一种采用并联连杆机构的新型可倾架四轴飞行器

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797934

Akinori Sakaguchi, T. Takimoto, T. Ushio

引用次数: 10

Computationally Efficient Visibility Graph-Based Generation Of 3D Shortest Collision-Free Path Among Polyhedral Obstacles For Unmanned Aerial Vehicles 基于可视化图的无人机多面体障碍物三维最短无碰撞路径生成

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798322

Sunan Huang, R. Teo

引用次数: 18

Parameter-free Regression-based Autonomous Control of Off-the-shelf Quadrotor UAVs 基于无参数回归的四旋翼无人机自主控制

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798034

Rahul Peddi, N. Bezzo

{"title":"Parameter-free Regression-based Autonomous Control of Off-the-shelf Quadrotor UAVs","authors":"Rahul Peddi, N. Bezzo","doi":"10.1109/ICUAS.2019.8798034","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798034","url":null,"abstract":"Autonomous flight in unmanned aerial vehicles (UAVs) generally requires platform-specific knowledge of the dynamical parameters and control architecture. Recently, UAVs have become more accessible with off-the-shelf options that are well-tuned and stable for user teleoperation but due to unknown model parameters, they are typically not ready for autonomous operations. In this paper, we develop a method to enable autonomous flight on vehicles that are designed for teleoperation with minimal knowledge of the dynamical and controller parameters. The proposed method uses a basic knowledge of the control and dynamic architecture along with human teleoperated trajectories as demonstrations to train a thin-plate spline (TPS) regression model, which is then used to manipulate the pre-trained commands to generate new autonomous input commands for autonomous navigation over new trajectories. A statistical approach is also presented together with a satisfiability modulo theories (SMT) solver to assess the learned prediction error and correct to minimize errors in the input generation. A robust control-based strategy is also proposed to adjust autonomous input commands during run-time for closed loop trajectory tracking. Finally, we validate the proposed approach with trajectory-following experiments on a quadrotor UAV.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127898982","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

Observability Analysis and Bayesian Filtering for Self-Localization of a Tethered Multicopter in GPS-Denied Environments gps拒绝环境下系留多旋翼机自定位的可观测性分析与贝叶斯滤波

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797913

Amer Al-Radaidehl, Liang Sun

{"title":"Observability Analysis and Bayesian Filtering for Self-Localization of a Tethered Multicopter in GPS-Denied Environments","authors":"Amer Al-Radaidehl, Liang Sun","doi":"10.1109/ICUAS.2019.8797913","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797913","url":null,"abstract":"A main challenge for multicopter unmanned aerial vehicles (UAVs) is to consistently obtain its accurate position. The integration of the Inertial Navigation System (INS) and Global Positioning System (GPS) is a common strategy to compensate the accumulated drifting errors caused by the onboard Inertial Measurement Unit (IMU). In environments where the GPS signal is degraded or unavailable (e.g., cluttered, hostile, urban, and underwater areas), other solutions must be pursued for the multicopter localization. In this paper, a novel approach is presented that estimates the relative position of a multicopter tethered to a ground mobile platform. The proposed approach uses the measurements collected by solely the commercial-of-the-shelf (COTS) IMU onboard the multicopter. The observability analysis of the system is performed to demonstrate the validity of using a Bayesian filter that was developed to account for the uncertainty in the measurements. Simulation were conducted and the results showed that the developed Bayesian filter, with accurate localization estimates, outperforms a Low-Pass-Filtering approach that was developed by the authors before.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129075510","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: 10

Containment Control Based on Adaptive Sliding Mode for a MAV Swarm System under perturbation 微扰下MAV群系统的自适应滑模控制

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797861

Carlos Katt, H. Castañeda

引用次数: 1

Trajectory-tracking of a Heterogeneous Formation Using Null Space-Based Control 基于空基控制的异质编队轨迹跟踪

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798031

Valentim Ernandes Neto, M. Sarcinelli-Filho, A. Brandão

{"title":"Trajectory-tracking of a Heterogeneous Formation Using Null Space-Based Control","authors":"Valentim Ernandes Neto, M. Sarcinelli-Filho, A. Brandão","doi":"10.1109/ICUAS.2019.8798031","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798031","url":null,"abstract":"This work discusses a trajectory tracking task accomplished by a formation of two heterogeneous robots, namely a Pioneer 3-DX (UGV) and an AR.Drone 2.0 quadcopter (UAV). The control paradigm considers the formation as a virtual structure, here represented by a 3D straight line linking the two agents. The formation is characterized by the distance between the two robots and two angles, measured between the linking-line and the YZ and XZ planes. In this approach, the formation position coincides with the UGV position. The transformation between the robot to formation variables allows characterizing the motion and shape of the formation starting from the movement of the robots, or vice-versa. Then, a controller guides the formation and manages two conflicting subtasks (reach the desired robot position or keep the formation shape), whose priority is defined by the null space-based approach. Finally, real experiments validate the proposed approach during trajectory-tracking tasks for three scenarios, one assigning the highest priority to the formation position, another to the formation shape, and a last one, without any priority. In addition, we evaluated the formation behavior in failure situations in one of the robots.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132603808","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: 15

On systems of UAVs for persistent security presence: A generic network representation, MDP formulation and heuristics for task allocation 用于持续安全存在的无人机系统:通用网络表示、MDP公式和任务分配的启发式方法

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797863

Minjun Kim, J. R. Morrison

引用次数: 4

Adaptive Control for a Tilted-Motors Hexacopter UAS Flying on a Perturbed Environment 倾斜马达六旋翼无人机摄动环境下的自适应控制

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798048

Jorge M. Arizaga, H. Castañeda, P. Castillo

引用次数: 2