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Orthogonal Frequency Division Multiplexing (OFDM) can be a good candidate for wideband communications to transmit payload data from an Unmanned Aerial Vehicle (UAV) to the ground station in an Unmanned Aerial System (UAS). However, OFDM systems are prone to inter-channel interference caused by the Doppler spread. Furthermore, because of possible high speed of UAVs, the Doppler spread can be large...
Visual odometry approaches have demonstrated to work very well for localization in GPS-denied areas, however they could quickly diverge depending on the environment. In order to achieve reliable long-term localization, it is a good practice to complement vision-based estimations with an additional source of information able to correct odometry drifts. This paper presents an approach that complements...
Massive multiple-input multiple-output (MIMO) is an emerging technology for mobile communications, where a large number of antennas are employed at the base station to simultaneously serve multiple single-antenna terminals with very high capacity. In this paper, we study the potentials and challenges of utilizing massive MIMO for unmanned aerial vehicles (UAVs) communication. We consider a scenario...
In this paper a fast horizon detection algorithm is introduced, which is run on an airborne visual system. It is important to run the horizon detection as fast as possible, and also with low power consumption. Hence we developed an algorithm, which has low complexity. The horizon detection uses attitude information provided by the flight control computer of the aircraft and it corrects the horizon...
As small unmanned aircraft systems become increasingly affordable, reliable, and formally recognized under federal regulation, they become increasingly attractive as novel platforms for civil applications. This paper details the development and demonstration of both fixed-wing and rotorcraft-based unmanned systems for infrastructure assessment tasks. Tasks such as inspecting pavement condition and...
Time-domain aircraft system identification is applied to flight test data obtained using a motion capture system. Longitudinal aerodynamic force and moment time histories are obtained using the estimation-before-modeling approach, in which forces and moments are modeled as Gauss-Markov processes and estimated concurrently with the aircraft state histories using an extended Kalman filter. Quasi-steady...
This paper addresses the problem of autonomous navigation of a quadrotor helicopter using state estimators when the GPS signal is not available. The main objective is to estimate the translational position and velocity of the flying machine. The observer proposed uses a double integral approximation of the acceleration defined in the mathematical model in order to estimate the states previously mentioned...
This paper presents a trajectory tracking non-linear controller for the quadrotor that compensates external forces and moments. The external forces, their first and second time derivatives, as well as the external moments, are reconstructed using an estimator based on the immersion and invariance technique. The evaluation of the proposed controller is performed with the aid of a series of experimental...
An Unmanned aerial vehicle (UAV) guidance law is addressed as an optimal regulator (LQR) problem. An adaptive optimal path following nomenclature is derived and defined. The state weighting matrix of the LQR is defined in term of intrinsic parameter error thereby enabling the guidance law to regulate the UAV disturbance errors effectively. The state weighing matrix is tuned using a genetic algorithm...
Development of an aerial manipulator prototype for canopy sampling is presented. As part of addressing the unique challenges of operating in a forest canopy environment, the prototype features an offset-mounted manipulator. The first steps of flight experiments have been conducted in an attempt to determine the viability of an off-the-shelf PID flight control implementation — acceptable performance...
Despite being unmatched on the battlefield or at home, low-cost, asymmetric threats have proven dangerous for U.S. military forces and homeland security. The proliferation of improvised explosive devices of all types in the Iraqi and Afghan theaters has demonstrated that inexpensive, commercial off-the-shelf technology and some electronics knowledge can be combined to significantly impact high-tech...
High altitude platforms, also known as pseudo-satellites, are envisioned as unmanned aircraft flying at altitudes above 15 km to provide observation, remote sensing or communication services. A challenging yet recurring requirement for such aicraft is to be able to perform long-endurance missions over multiple days or even weeks. A sophisticated onboard energy management system including solar panels...
This article provides an overview of international law governing the use of autonomous weapon systems (AWS) in an armed conflict. Using the lens of autonomous systems, the article introduces basic international humanitarian law concepts, explains the legal framework behind what makes a weapon legal, and discusses the legal parameters surrounding employment of weapon systems. It also suggests a number...
This paper describes the tracking guidance for the autonomous UAV landing and the vision-based detection of the marker on the moving vehicle with the real-time image processing system. The detection of the marker is based on the color detection algorithm with morphological filter and the tracking guidance is based on the relative distance between the UAV and the vehicle. In order to track and land...
This paper presents customized techniques for autonomous localization and mapping of micro Unmanned Aerial Vehicles flying in complex environments, e.g. unexplored, full of obstacles, GPS challenging or denied. The proposed algorithms are aimed at 2D environments and are based on the integration of 3D data, i.e. point clouds acquired by means of a laser scanner (LIDAR), and inertial data given by...
This paper presents a feasibility study for end-body positioning maneuvers using a towed cable-body system where a fixed wing Unmanned Aerial Vehicle (UAV) is stabilized in a steady-state circular motion. As high precision maneuvers such as object pickup/dropoff are typically performed by rotorcraft UAVs, a successful fixed-wing concept would greatly increase the possible range for this type of operation...
This paper presents a vision-based tracking system for marine surface objects utilizing images captured in a fixed-wing unmanned aerial vehicle (UAV) with a retractable pan/tilt gimbal. A formula for calculating the North-East velocities of objects detected in the images is derived. The formula utilizes optical flow (OF) and compensates for the UAV and gimbal motions. It can be used together with...
This paper discusses the machine vision element of a system designed to allow automated taxiing for Unmanned Aerial System (UAS) around civil aerodromes. The purpose of the computer vision system is to provide direct sensor data which can be used to validate vehicle position, in addition to detect potential collision risks. This is achieved through the use of a singular monocular sensor. Untrained...
An Intelligent Autopilot System (IAS) that can learn piloting skills by observing and imitating expert human pilots is proposed. IAS is a potential solution to the current problem of Automatic Flight Control Systems of being unable to handle flight uncertainties, and the need to construct control models manually. A robust Learning by Imitation approach is proposed which uses human pilots to demonstrate...
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