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Cargo transportation between moving platforms is one of the most meaningful potential applications of UAVs. However, to fully autonomously transport the cargos, the UAV is required to have high position precision and high intelligence to tackle all the emergencies, on which the technology is not mature yet. In this article, we present a quadrotor system targeting at fully autonomous cargo transportation...
Though multi-agent formation and consensus have been studied intensively recently, very few of the research focuses on their engineering realization using rotor-craft unmanned air vehicle (UAV) as the basic platform. Some assumptions in many theoretical study present challenges in engineering realization, such as the over-simplified dynamic model or sensor model of each agent. In this paper, we present...
This paper presents an intelligent and robust guidance, navigation and control solution for a rotorcraft UAV to perform automatic cargo transportation between two moving platforms. Different from the conventional GPS/INS based navigation, the proposed UAV system also integrates a scanning laser range finder to robustly correct its altitude measurement and an advanced vision sub-system to detect the...
This paper presents a robust and efficient navigation solution for a quadrotor UAV to perform autonomous flight in a confined but partially known indoor environment. The main sensors used onboard of the UAV are two scanning laser range finders and an inertial measurement unit. When the indoor environment is structured and the coordinates of its key corner features are known, the UAV planer position...
This paper discusses an optimal maintenance policy for a parallel system with periodic inspection. The system is composed of several units which have an independent and identical distribution. When the number of failed unit exceeds a threshold level, the system incurs a loss cost per unit of time from a failure to the next inspection. When the next inspection finds the failure, the system is overhauled,...
We present in the paper the comprehensive design procedure of a mini UAV helicopter, called BabyLion. The hardware construction, along with the selection of all of necessary components, will be introduced. Since the system identification method is only partially suitable for the self-built BabyLion, we propose a more suitable parameter identification approach which combines both system identification...
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