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Miniaturization and Control of an Unmanned Tiltwing Aircraft 无人倾翼飞行器的小型化与控制
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-10 DOI: 10.1142/s2301385024430040
Julian Muller, Dieter Moormann
{"title":"Miniaturization and Control of an Unmanned Tiltwing Aircraft","authors":"Julian Muller, Dieter Moormann","doi":"10.1142/s2301385024430040","DOIUrl":"https://doi.org/10.1142/s2301385024430040","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":" May","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135186658","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Active Disturbance Rejection Predictive Control for Local Trajectory Planning of Unmanned Ground Vehicles 无人地面车辆局部轨迹规划的自抗扰预测控制
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-10 DOI: 10.1142/s2301385024410061
Lingxiang Xia, Jianbo Su
{"title":"Active Disturbance Rejection Predictive Control for Local Trajectory Planning of Unmanned Ground Vehicles","authors":"Lingxiang Xia, Jianbo Su","doi":"10.1142/s2301385024410061","DOIUrl":"https://doi.org/10.1142/s2301385024410061","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":" March","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135186672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a Mission-Tailored Tail-Sitter MAV 为任务量身定制的尾座微型飞行器的研制
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-10 DOI: 10.1142/s2301385024430027
Luiz F T Fernandez, Murat Bronz, Nathalie Bartoli, Thierry Lefebvre
{"title":"Development of a Mission-Tailored Tail-Sitter MAV","authors":"Luiz F T Fernandez, Murat Bronz, Nathalie Bartoli, Thierry Lefebvre","doi":"10.1142/s2301385024430027","DOIUrl":"https://doi.org/10.1142/s2301385024430027","url":null,"abstract":"Vertical takeoff and landing (VTOL) vehicles are among the most versatile UAVs, appropriate for various missions. Given that there are still open challenges regarding the VTOL design, this paper presents the full development and test cycle of a tail-sitter. IMAV 2022 competition rules were used to define the mission. A multidisciplinary design and optimization strategy was defined with the goal of maximizing competition score considering design, manufacturing, and competition constraints. The resulting vehicle was designed to fly at 18[Formula: see text]m/s while carrying 200[Formula: see text]g of payload with a total weight of approximately 720[Formula: see text]g. It flew for roughly 13 min at IMAV2022, helping its team to achieve 1st place at the “Package delivery challenge”. Further flight tests revealed the ultimate endurance performance as 18[Formula: see text]min.","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"83 13","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135087583","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Exploring Networked Airborne Computing: A Comprehensive Approach with Advanced Simulator and Hardware Testbed 探索网络化机载计算:先进模拟器和硬件试验台的综合方法
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-10 DOI: 10.1142/s2301385024420056
Haomeng Zhang, Baoqian Wang, Ruitao Wu, Junfei Xie, Yan Wan, Shengli Fu, Kejie Lu
{"title":"Exploring Networked Airborne Computing: A Comprehensive Approach with Advanced Simulator and Hardware Testbed","authors":"Haomeng Zhang, Baoqian Wang, Ruitao Wu, Junfei Xie, Yan Wan, Shengli Fu, Kejie Lu","doi":"10.1142/s2301385024420056","DOIUrl":"https://doi.org/10.1142/s2301385024420056","url":null,"abstract":"In recent years, networked airborne computing (NAC) has emerged as a promising paradigm because it can leverage the collaborative capabilities of unmanned aerial vehicles (UAVs) for distributed computing tasks. Despite the burgeoning interests in NAC and UAV-based computing, many existing studies depend on over-simplified simulations for performance evaluation. This reliance has led to a gap in our understanding of NAC’s true potential and challenges. To fill this gap, this paper presents a comprehensive approach: the creation of a realistic simulator and a novel hardware testbed. The simulator, developed using ROS and Gazebo, emulates networked UAVs, focusing on resource-sharing and distributed computing capabilities. This tool offers a cost-effective, scalable, and adaptable environment, making it ideal for preliminary investigations across a myriad of real-world scenarios. In parallel, our hardware testbed comprises multiple quadrotors, each equipped with a Pixhawk control unit, a Raspberry Pi computing module, a real-time kinematic (RTK) positioning system, and multiple communication units. Through extensive simulations and hardware tests, we delve into the key determinants of NAC performance, such as computation task size, number of UAVs, communication quality, and UAV mobility. Our findings not only underscore the inherent challenges in optimizing NAC performance but also provide pivotal insights for future enhancements. These insights encompass refining the simulator, reducing computation overheads, and equipping the hardware testbed with cutting-edge communication devices.","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"75 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135088355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Efficient Real-time Path Planning with Self-evolving Particle Swarm Optimization in Dynamic Scenarios 动态场景下基于自进化粒子群优化的高效实时路径规划
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-10 DOI: 10.1142/s230138502441005x
Jinghao Xin, Zhi Li, Yang Zhang, Ning Li
{"title":"Efficient Real-time Path Planning with Self-evolving Particle Swarm Optimization in Dynamic Scenarios","authors":"Jinghao Xin, Zhi Li, Yang Zhang, Ning Li","doi":"10.1142/s230138502441005x","DOIUrl":"https://doi.org/10.1142/s230138502441005x","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":" February","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135186661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A novel exploration mechanism of RRT guided by Deep Q-Network 一种基于Deep Q-Network的RRT探测机制
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-07 DOI: 10.1142/s2301385024420068
Li Zhaoying, Huang Jiaqi, Fei Yuheng, Shi Ruoling
{"title":"A novel exploration mechanism of RRT guided by Deep Q-Network","authors":"Li Zhaoying, Huang Jiaqi, Fei Yuheng, Shi Ruoling","doi":"10.1142/s2301385024420068","DOIUrl":"https://doi.org/10.1142/s2301385024420068","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"124 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135540542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed formation control of multi-agent systems: A novel fast-optimal balanced differential game approach 多智能体系统的分布式编队控制:一种新的快速最优平衡微分对策方法
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-04 DOI: 10.1142/s230138502550013x
Wenyan Xue, Jie Huang, Nan Chen, Yutao Chen, Dingci Lin
{"title":"Distributed formation control of multi-agent systems: A novel fast-optimal balanced differential game approach","authors":"Wenyan Xue, Jie Huang, Nan Chen, Yutao Chen, Dingci Lin","doi":"10.1142/s230138502550013x","DOIUrl":"https://doi.org/10.1142/s230138502550013x","url":null,"abstract":"This paper proposes an efficient fast-optimal balanced differential game (DG) approach to address the formation control problem in dynamic environments for networked multi-agent systems (MASs). Compared to existing receding horizon distributed differential game (RH-DDG) approaches, the proposed approach employs a two-layer game structure to balance optimality and real-time performance, with a focus on formation control, collision avoidance and obstacle avoidance. In the offline layer, the problem is converted into a distributed differential game (DDG) where each agent computes strategies using distributed information from locally neighboring agents. The strategy of each agent self-enforces a unique global Nash equilibrium (G-NE) with a strongly connected communication topology, providing an optimal reference trajectory for the online game. In the online layer, a receding horizon differential game with an event-trigger mechanism (RH-DGET) is presented to track the G-NE trajectory. Ego players are triggered to update online Nash strategies only when the event-triggering condition is satisfied, ensuring the real-time safety certificate. Rigorous proofs demonstrate that the online Nash strategies converge to the offline G-NE until the trigger ends, and a certain dwell time condition is given to prevent the Zeno behavior. Simulation results validate the effectiveness of the proposed approach.","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"14 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135728305","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Design and Control of an Innovative Overactuated Thrust Vectoring 6DoF Quadrotor for Extreme and Challenging Environments 一种创新的超驱动推力矢量6DoF四旋翼在极端和具有挑战性的环境中的设计和控制
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-03 DOI: 10.1142/s2301385025500190
Mohamed Kara-Mohamed, Qian Zhang, Xinggang Yan
{"title":"Design and Control of an Innovative Overactuated Thrust Vectoring 6DoF Quadrotor for Extreme and Challenging Environments","authors":"Mohamed Kara-Mohamed, Qian Zhang, Xinggang Yan","doi":"10.1142/s2301385025500190","DOIUrl":"https://doi.org/10.1142/s2301385025500190","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"97 11","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135869154","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Identification and Robust Control of a Flapping Wing System Using Fuzzy Wavelet Neural Networks 基于模糊小波神经网络的扑翼系统辨识与鲁棒控制
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-03 DOI: 10.1142/s2301385025500207
Shabnam M. Gharebaghi, Afshin Banazadeh
{"title":"Identification and Robust Control of a Flapping Wing System Using Fuzzy Wavelet Neural Networks","authors":"Shabnam M. Gharebaghi, Afshin Banazadeh","doi":"10.1142/s2301385025500207","DOIUrl":"https://doi.org/10.1142/s2301385025500207","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"97 9","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135869155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Learning Multi-Modal Scale-Aware Attentions for Efficient and Robust Road Segmentation 学习多模态尺度感知注意事项，实现高效鲁棒道路分割
3区 计算机科学
Unmanned Systems Pub Date : 2023-11-01 DOI: 10.1142/s2301385024410048
Yunjiao Zhou, Jianfei Yang, Chen Wang, Haozhi Cao, Zhaoyang Zeng, Han Zou, Lihua Xie
{"title":"Learning Multi-Modal Scale-Aware Attentions for Efficient and Robust Road Segmentation","authors":"Yunjiao Zhou, Jianfei Yang, Chen Wang, Haozhi Cao, Zhaoyang Zeng, Han Zou, Lihua Xie","doi":"10.1142/s2301385024410048","DOIUrl":"https://doi.org/10.1142/s2301385024410048","url":null,"abstract":"","PeriodicalId":44832,"journal":{"name":"Unmanned Systems","volume":"257 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135320513","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","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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