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This paper presents a novel algorithm identifying optimal flight trajectories for Unmanned Aerial Vehicles compliant with environmental constraints. Such constraints are defined in terms of obstacles, fixed way-points and selected destination points. Optimality is evaluated taking the minimum path length as the specific objective function. The proposed path planning strategy is based on an original...
In this paper a Fault Tolerant system for the attitude estimation of an Unmanned Aerial Vehicle (UAV) using low cost magnetometers, accelerometers, and gyroscopes, implemented in an Inertial Measurement Unit (IMU) is proposed. An approach based on the Unscented Kalman Filter (UKF) for Detection, Isolation and Reconfiguration is investigated in the presence of a Hardware Duplex IMU mounted on board...
The tilting trirotor presented in this paper is able to perform levelled flight at almost null attitude which is an important requirement for fixed wing tilt rotors in view of the lift control during transition from hovering to forward flight. The nonlinear dynamics, the large effect of wind due to the small scale, and the absence of aerodynamic data at low speed and Reynolds numbers, are crucial...
A two-stage optimization model for flight path planning of cooperative UAVs in formation flight in the presence of polygonal obstacles and no-fly zones is proposed. Adopting a Visibility Graph (VG) approach, the virtual formation leader plans its flight path composed of circular arcs and segments connecting obstacles vertices. Then groups of obstacles, being not permeable by the flight formation without...
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