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In this paper, we present an algorithm called Learning-based Preferential Surveillance Algorithm (LPSA), which is specific to the problem of persistent surveillance by unmanned aerial vehicles. The novelty of the algorithm lies in providing the capability to a UAV to increase the probability of target detection through learning. The algorithm considers the neighborhood of a localized target as potential...
This paper addresses the problem of enabling Unmanned Aircraft Systems (UAS) to avoid mid-air collisions during path planning applications. We propose an improved strategy that allows the UAS to negotiate obstacles encountered during flight, while keeping the objective of finding a feasible path towards its destination. Our method computes multiple steps along the UAS's path based on GPS coordinates,...
Long-time planning horizons are required to safely navigate one vehicle in the presence of another, possibly non-cooperative vehicle. They give rise to computational issues preventing the real-time implementation of safe navigation algorithms. In this paper, we consider two nonholonomic vehicles, of which one (blue) has the goal to enter the “tail” of the other (red). Neither the goal nor the navigation...
This paper considers the problem of convoy protection missions using a fixed-wing Unmanned Aerial Vehicle (UAV) in scenarios where the radius of the circular region of interest around the convoy is smaller than the UAV minimum turning radius. Using the Moving Path Following (MPF) method, we propose a guidance algorithmic strategy where a UAV moving at constant ground speed is required to converge...
This document describes the motivation, theoretical description, development, and field test of a system utilizing multiple Unmanned Aerial Vehicles (UAV)s that cooperate with each other, using Unattended Ground Sensors (UGS), to monitor an area, detect intruder vehicles, capture imagery of the intruders, and deliver that imagery to the home base. Since the UAVs have no sensors/perception algorithms...
The UAVs business experiences currently a strong growth in particular thanks to the popularisation of its mini class (e.g. DJI Phantom, Parrot Bebop…). Nevertheless, there is still a need for more capable aircraft, mainly in terms of payload and endurance, in both military and civilian markets. This type of aircraft is historically known as the tactical class, which is a compromise between the affordability...
Loading wide baseline multi-arrays optical sensor system enables a UAV to obtain large field of view and multi-view information, and maximize its detection performance. An accurate calibration is a necessary prerequisite. Since the key problem on the calibration of multi-array optical system is how to find the accurate extrinsic parameters of single array, we propose a cooperative calibration with...
With water shortages and drought affecting many regions of the world, it becomes urgent to increase water use efficiency (WUE) by optimizing irrigation schedule. Proper irrigation scheduling, which includes integrating of soil moisture monitoring, surface evapotranspiration loss calculation, and plant based measurements is required for high WUE. Stem water potential (SWP) has become one of the more...
This work presents our initial approach to remote sensing and precision agriculture for monitoring crop fields in Colombia. Using an autonomous quadcopter UAV (unmanned aerial vehicle) equipped with a multispectral camera onboard, our goal is to provide farmers with an integrated tool for measuring and assessing live green vegetation by assembling a terrain image mosaic based on capturing multispectral...
This paper addresses the problem of navigating an Unmanned Aerial Vehicle in an environment where GPS quality is degraded or lost. A method is described to return the aircraft from the GPS-degraded region to its launch point by means of visual navigation techniques. We record a string of overlapping images, or keyframes, on the outbound flight. On the return journey, a control law based on the homography...
In this paper, we present a novel mobile target tracking filter that incorporates delayed measurements captured by a video camera onboard a flying platform, such as Unmanned Aerial Vehicles (UAVs). A curve-fitting-based technique is developed to characterize the system state information in the past. The coefficients are obtained and updated using an Extended Kalman Filter (EKF) based technique, which...
In this paper, we present two novel guidance laws for an unmanned aerial vehicle (UAV) equipped with a fixed camera to track a mobile ground target. The system dynamics is established in the level local coordinate frame, removing the need of converting the target location information to the global inertial frame. The first guidance law is developed using backstepping technique requiring the estimation...
Safety and reliability are key if unmanned aerial systems (UAS) are to move from research and become an everyday part of our lives. How can safety and reliability be maintained when cost and timeliness are such pressing factors in small UAS development? In this paper, it is shown that with open-source flight control software (provided by the authors), sophisticated testing practices (hardware-in-the-loop)...
This work proposes the representation of the high level dynamic modelling of a formation of two quadrotor UAVs cooperatively carrying a suspended load. The two quadrotors are attached to the load by massless and stretchable cables, which can slack and taut during the task accomplishment. The cable is modeled as a high stiffness spring with a damping coefficient, according to the Hooke's law, and its...
A method for cooperative estimation is proposed for use in multi-vehicle unmanned air systems with vision-based target tracking capabilities. The method first seeks to estimate the relative rotational and translational biases that exist between tracks from different vehicles. It then accounts for the biases and performs the track-to-track association, which determines if the tracks originate from...
A cooperative aircraft differential game where an Attacker missile pursues a Target aircraft is addressed. The Target aircraft cooperates with up to two Defender missiles which are launched in order to intercept the Attacker before the latter reaches the Target. The results in this paper build on the solution of a three agent differential game, where the three players are the Target, the Attacker,...
This paper presents a novel method for wind characterization and mapping by using an Unmanned Aircraft System (UAS). The generation of a wind map is vital in energy-efficient trajectory planning of efficient trajectories and dynamic soaring applications to detect the shear layer. Firstly, two methods to estimate the parameters that define an unknown wind field (wind speed and direction) by using a...
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