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Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
This paper proposes a new software platform to control and monitor a squad of unmanned vehicles. Through the use of an open-source flight controller and an on-board Raspberry Pi it is possible to create a system that enables communication between a remote ground control stations (GCS) and a unmanned aerial vehicles (UAVs). Both are connected through the use of wireless and cellular networks like Wi-Fi,...
This paper proposes a new software platform to control and monitor a squad of unmanned vehicles. Through the use of an open-source flight controller and an on-board Raspberry Pi it is possible to create a system that enables communication between a remote ground control stations (GCS) and a unmanned aerial vehicles (UAVs). Both are connected through the use of wireless and cellular networks like Wi-Fi,...
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...
The dynamics of a human operated nonlinear unmanned aerial vehicle (NUAV) with a given controller at the inner loop is governed by the admissible nonzero initial conditions and the pilot inputs. The movements of the joystick connected to the throttle and the control surfaces in a way are the indications of the pilot decision points to operate the stabilized NUAV. If these decisions fall short to avoid...
One of the intriguing problems in nonlinear unmanned aerial vehicle (NUAV) control using one of its linearized model based controllers at the inner loop is generating admissible control inputs for which the aircraft trajectories are confined to its stability region. It is an initial condition selection problem that is not necessarily applied at initial time but can be applied at any part of the flight...
In this paper, a novel decentralized task allocation algorithm based on the Hungarian approach is proposed. The proposed algorithm guarantees an optimal solution as long as the agent network is connected, i.e., the second smallest eigenvalue of the Laplacian matrix of the agent graph is greater than zero. In order to show the motivation of the proposed algorithm, the original centralized auction and...
This works deals with the problem to stabilize a Quad rotor-UAV in presence of time-delay and disturbances. The proposed controller is based on the reduction approach, i.e. the system transformation into one without delay which might be stabilized using a regular controller. Mathematical induction method allows to develop a new transformation based on the fundamental theorem of calculus. A closed-loop...
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...
In recent years, natural language machine interfaces have become increasingly common. These interfaces allow for more intuitive communication with machines, reducing the complexity of interacting with these systems and enabling their use by non-expert users. Most of these natural language interfaces rely on speech, including such well-known devices as the iPhone's Siri application, Cortana, Amazon's...
A collision-free trajectory generation method capable of re-planning the trajectories of an unmanned aerial vehicle (UaV) can increase flight safety and decrease the possibility of mission failure. For this purpose, a Markov decision process (MDP) based algorithm combined with backtracking method, is presented to create a safe trajectory in the case of obstacles. Subsequently, a differential flatness...
Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals either intentionally or unintentionally could potentially render these algorithms not applicable. In this article, we present a novel method to address this difficulty...
UAVs provide exceptional capabilities and a myriad of potential mission sets, but the ability to disguise where the aircraft takes off and lands would expansively advance the abilities of UAVs. This paper describes the development of a nonlinear estimation algorithm to predict the terminal location of an aircraft and a trajectory optimization strategy to mitigate the algorithm's success. A recursive...
We present a runtime efficient approach to sampling-based path planning for fixed-wing unmanned aerial vehicles (UAV) based on line-graphs. Accounting for flight performance limits and the local prevailing wind, path planning is computationally expensive especially in 3D obstacle environments. A common approach is to solve the problem successively, i.e. to plan collision free paths, which are then...
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