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A fault tolerant cooperative control (FTCC) strategy for a team of an unmanned aerial vehicle (UAV) and unmanned ground vehicles (UGVs) in the presence of actuator faults are investigated in this paper. A combination of a linear model predictive control (MPC) and input-output feedback linearization is implemented on each UGV, while a combination of a sliding mode control and linear quadratic regulator...
This paper details the design and performance assessment of a unique collision avoidance decision and control strategy for autonomous vision-based See and Avoid systems. The general approach revolves around re-positioning a collision object in the image using image-based visual servoing, without estimating range or time to collision. The decision strategy thus involves determining where to move the...
In this paper, a leader-follower formation control of multiple unmanned aerial vehicles (UAVs) design methodology is proposed to keep the desired formation, while simultaneously deal with the potential collision and actuator faults. The proposed formation control is divided into outer-loop and inner-loop controllers. First, a leader-follower control structure is constructed as the outer-loop controller...
This paper describes the development of a Sense and Avoid (S&A) algorithm that can ensure an Unmanned Aerial Vehicle (UAV) being able to avoid collisions autonomously. Firstly, the Closest Point of Approach (CPA) can predict the conflict. Secondly, the developed path planner generates the feasible path using differential geometric guidance and flatness techniques, where the constraints of UAV...
•The various state and federal attempts at legislating UAS operations use over the last two years have been inconsistent, albeit with limited threads of similarity. The focus remains on regulating government actors. Legislators continue to take a smorgasbord-style approach to applying the Fourth Amendment. Helpful clauses that would protect individual privacy in a meaningful way still seem to elude...
The proliferation of Unmanned Aerial Vehicles (UAVs) raises a host of new security concerns. Our research resulted in a prototype UAV monitoring system, which captures flight data and performs real-time behavioral monitoring. If a behavioral anomaly is found, the system will alert the operator. In addition, a novel visualization system tracks the real time behavior and flight of multiple UAVs. Our...
Scores of avalanche injuries and fatalities occur annually. This research presents an avalanche search and rescue (SAR) proof-of-concept option that utilizes a small unmanned aerial vehicle (UAV) helicopter with a payload capable of detecting and locating a buried victim's cell phone. Cell phones involved in this research were modern-day fourth generation (4G) Long Term Evolution (LTE) devices with...
Aircraft control system is designed to provide adequate stability during transition flight of a quad-tilt wing (QTW) UAV. The dynamic inversion method, which is a linearization method without an approximation algorithm, is applied to a control problem of the UAV, because of strong nonlinearity of its dynamical behavior. The validity of the proposed control system is verified through numerical simulation...
The continued growth of unmanned aircraft systems (UAS) is driving innovation from delivery techniques to military surveillance. Cost and knowledge barriers are major limiting factors to general UAS adoption. A UAS controlled by an onboard smartphone is proposed to leverage consumer understanding and transform the emergent industry. Based upon user-supplied GPS flight path coordinates, the UAS can...
This paper proposes a control algorithm to solve multiple quadrotor formation problem in a leader-follower configuration. A combination of sliding mode control (SMC) and linear quadratic regulator (LQR) are used for trajectory tracking control of a single robot. Position control, which acts as the outer loop is controlled by LQR for providing the reference attitude angles for the inner loop. SMC used...
In this paper, formation of a group of multiple cooperative unmanned aerial vehicles (UAVs) in a desired geometrical pattern while tracking an aerial target is implemented using decentralized Learning Based Model Predictive Control (LBMPC). The LBMPC is a new control technique that combines statistical learning along with control engineering providing guarantees on safety, robustness and convergence...
The Healthy, Mobility and Security-based Data Communication Architecture, also known as HAMSTER, is provided with a special platform for safety & security: Sphere. It concentrates all the safety & security aspects of the main architecture and all derivative versions. The aim is to define patterns for assuring safety & security that allow every unmanned vehicle derived from HAMSTER to safely...
In this paper, we develop a vision based formation control of quad-rotor UAVs using a monocular camera. A Lyapunov based approach is used to derive the controller. The objective of the controller for the follower UAV is to keep the leader vehicle at a desired bearing angle in its field-of-view. Also a desired fixed distance is maintained by using the size of the UAV as seen the image plane of the...
Multicopters drain much energy from the battery because of on-board avionics system and other devices. Limited by the battery capacity, missions that require longer flight time cannot be fulfilled if there is no vehicle replacement or external logistics support. Secondly, missions such as large area surveillance and reconnaissance require a fleet (swarm) of flying vehicles working in a collaborative...
This paper presents the design, performance analysis and aerodynamic improvement of a designed medium range tactical unmanned aerial vehicle. Main requirements are set as following; cruising altitute above 3500m, endurance of approximately 10–12 hours, range of 150 km and payload of 60 kg. The conventional design phase is based on the employment of historical equations and experiences. The aerodynamic...
This paper presents results of developing and operating a team of multiple unmanned aircraft system. It is a challenging task since the system complexity increases as the number of the unmanned aircraft increases. Given the autonomy of each vehicle in navigation, guidance, control, and vision-based missions, a system of multiple unmanned aircraft is constructed which is expected to be applied to complicated...
This paper details a method of detecting collision risks for Unmanned Aircraft during taxiing. Using images captured from an on-board camera, semantic segmentation can be used to identify surface types and detect potential collisions. A review of classifier lead segmentation concludes that texture feature descriptors lack the pixel level accuracy required for collision avoidance. Instead, segmentation...
This article presents an algorithm for decentralized control and decision making among a number of unmanned aircraft systems (UASs). The approach is scalable and adaptable to a variety of specific mission tasks. Additionally, the algorithm could easily be adapted for use on land or sea-based systems. Each UAS involved in an automated decision making process uses a selection of both predefined and...
This paper describes a technological development project in charge of collecting and relaying data using UAVs (Unmanned Aerial Vehicles) from one or more small, low power, modular sensor nodes that can be placed in remote areas or floating on the water surface. The overall characteristics and architecture of the proposed sensor nodes and system around them are described. Field tests for one custom-built...
This paper proposed a framework for airborne multisensor management for multitarget tracking, considering each of multiple unmanned aircraft as a sensor. The purpose of the algorithm is to quantify the performance of the multitarget tracking and to determine the time and location of the sensor deployment. Utilizing the posterior Cramer-Rao lower bound, the inverse of the Fisher information matrix,...
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