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Remotely Piloted Aircraft Systems (RPAS) are being widely studied and developed due to their mission flexibility, reconfigurable architecture and low cost. In this paper, a novel Cloud-based framework for intelligent navigation of RPAS in urban environments is proposed, toward achieving fully-autonomous missions without compromising safety. The advantages of the proposed approach reside in the flexibility...
This paper presents an approach to estimate wind vector for a micro UAV by using only its inertial measurement unit in real-time. This method does not need additional sensors and dedicated anemometer, while just relying on the onboard inertial measurement unit to reserve the valuable payload for other onboard sensors. A smoothing filter is also designed based on the minimum summation of distance vector...
The use of the Bluetooth smart technology as a communication framework to interconnect the robots is presented in this paper. Moreover, signal metrics of this network are used to provide an embedded Range Only localization scheme (RO-SLAM). When working with teams of robots, the communication between them is very important as it allows them to cooperate for the performing of the tasks. Additionally,...
In order to further expand the sustainability of maritime operations the use of autonomous vehicles has been employed at an increasing scale. This natural increase comes not only in the form of the multiplication of the numbers of the same vehicle model, but also in diversifying the vehicle composition setup in order to allow the exploitation of different types of payloads. Moreover, this use of heterogeneous...
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the...
In the quickly developing world of precision agriculture UAV remote sensing, there is a need for a greater understanding of winds effect on fixed wing aerial surveying, as this is missing from current literature. This paper presents a method to define and calculate flight times in a Boustrophedon aerial survey coverage path in wind, for a given convex polygon, at a given sweep angle. It is shown that...
This paper deals with developing an automatic controller that solves the attitude stabilization for a Quadrotor unmanned aerial system (UAS). The controller used a simultaneous strategy of estimation and compensation of uncertainties as well as disturbances. The approach consisted of integrating a neuro-fuzzy system that implemented a set of differential neural networks (DNNs) as consequence section...
Early plant disease detection and treatment could dramatically increase crop yield. However, even experts cannot visually distinguish various diseases with certainty, limiting image based diagnosis. In this paper, we present a novel small unmanned aircraft system (sUAS) for phytobiopsy. This platform can remove a leaf section with visual symptoms and transport it to a lab for precise disease analysis...
This paper presents a bioinspired system for attitude rate estimation using visual sensors for aerial vehicles. The sensorial system consists of three small low-resolution cameras (10×8 pixels), and is based on insect ocelli, a set of three simple eyes related to flight stabilization. Most previous approaches inspired by the ocellar system use model-based techniques and consider different assumptions,...
Unmanned aircraft are quickly gaining credibility as an efficient tool for a wide range of tasks. With the increase in the amount of UAVs in the sky, the need for the UAV traffic management arises. Unmanned air traffic management system (UTMS), especially in the urban airspace, could be considered as a critical infrastructure, which — if disrupted — can lead to severe monetary losses and even casualties...
Inspection of industrial chimneys and smoke pipes induces high costs due to production downtimes and imposes risks to the health of human workers due to high temperatures and toxic gases. We aim at speeding up and automating this process with sensors mounted on multicopters. To acquire high quality sensor data, flying close to the walls of the chimney is inevitable, imposing high demands on good localization...
While unmanned aerial vehicles (UAVs) are a promising technology, they suffer from fundamental fuel and payload restrictions. A system of UAVs can be used to address these limitations. In this paper, we consider an automated system of UAVs seeking to provide an uninterrupted, or persistent, security presence to customers in an outdoor environment. We define the goals of such a system and provide architecture...
This paper presents a mixed-structure control system for a novel ducted fan aircraft in the presence of input constraint, system uncertainty and external disturbance. The control system includes mainly two parts: a robust nominal controller and a L1 adaptive augmentation. The robust nominal controller architecture consists of two loops. The inner-loop is designed as a static state feedback control...
This paper investigates the problems of task assignment and trajectory planning for teams of cooperative unmanned aerial vehicles (UAVs). A novel approach of hierarchical fuzzy logic controller (HFLC) and particle swarm optimization is proposed. Initially, teams of UAVs are moving in a pre-determined formation covering a specified area. When one or more targets are detected, the teams send a package...
This paper considers dynamic coverage control of multiple power-constrained UAVs. The UAVs are deployed to patrol a domain until the entire space has reached a satisfactory level of coverage. This is achieved through the gathering of visual information by a forward-facing camera, modeled as an anisotropic spherical sector. Coverage and collision avoidance guarantees are met through the design of a...
Traditionally, flight paths for unmanned aerial vehicles (UAVs) are generated offline by trained pilots and engineers using assumed environmental conditions, terrain and obstacles as constraints. As new applications for UAVs emerge, their user base shifts from one of operators with knowledge of low level systems to that of non-experts. These new operators require a more intuitive method for building...
Complexity is a measure of the difficulty that a particular air traffic situation represents to Air Traffic Controller (ATCo). This measure impacts on ATCo workload, which is an important factor for defining airspace capacity. This paper presents an evaluation of the impact of the insertion of Remotely Piloted Aircraft (RPA) on safety levels within a non-segregated airspace based on the calculation...
The aim of this study is to investigate methods for computing the position of an intruder aircraft relative to an observer aircraft with onboard stereo cameras. To focus on relative position estimation rather than the intruder aircraft detection through image processing, the first phase is to generate camera images given the relative position information. This process uses a simple pinhole camera...
This paper explores the interactions between environmental conditions and edge detector performance for use as a critical function for detect and avoidance (DAA) operations in the unmanned aerial systems (UAS) industry. The goal of this study was to establish the best edge detection scheme for sunny, low light, cloudy, and foggy conditions. A laboratory test chamber was developed to simulate these...
This paper presents the procedure to experimentally determine the capacity of a multirotor helicopter to move payload placed in front of it. We propose a solution to maintain the stability of it during flying using one half of a landing gear acting as a tail to create counterbalance. The main aim of the proposed system is to use only the mechanical systems available in a multirotor, this due to the...
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