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This paper presents an algorithm for cooperative UAV navigation that exploits vision-based sensing, standalone GPS, differential GPS among antennas embarked on different flying platforms, and measurements obtained by inertial sensors and magnetometers. Unlike other cooperative navigation approaches, the developed technique is mainly aimed at improving navigation performance in outdoor environments,...
The Unmanned Aerial System (UAS) market once belonged to professional companies only. Now many amateur pilots fly cheap, smartphone controlled models available in any electronic store. Due to altitude, speed, and weight, these flying objects can cause damage and injury. Hence, a way to manage them is necessary. This paper presents a UAS Traffic Management (UTM) system comprising three components:...
A novel approach for stabilization and navigation of swarms of Micro Aerial Vehicles (MAVs) along a predefined path through a complex environment with obstacles is introduced in this paper. The method enables to control large MAV swarms (in literature also called UAV swarms) based only on onboard sensors and without any inter-vehicle communication. The proposed method relies on visual localization...
There is a wide range of applications for unmanned aerial vehicles that requires the capability of having several and robust flight controllers available. This paper presents the main framework of a multi-mode flight control system for a quadrotor based on the super twisting control algorithm. The design stages for the four flight control modes encompassing manual, altitude, GPS fixed and autonomous...
In this paper, we study the distributed optimal flocking control problem of multiple Unmanned Aircraft Systems (Multi-UAS). Using the emerging Neuro Dynamic Programming (NDP) technique, a novel distributed near optimal flocking design is proposed for ensuring the multi-UAS to follow the three heuristic flocking rules (i.e. cohesion, separation and alignment) in an optimal manner. First, an innovative...
Precise trajectory tracking control for a quadcopter aerial vehicle using only a monocular camera and inertial sensing for localization is introduced in this work. Two different control laws based on linear behavior are proposed to follow desired trajectories. The algorithms are validated in real-time in the low-cost Parrot AR.Drone vehicle. Time-scale separation of the traslational and rotational...
This paper presents the design and practical implementation of a quaternion control scheme to globally stabilize a quadrotor aerial vehicle. First an attitude control law is proposed to stabilize the vehicle's heading, then a position control law is proposed to stabilize the vehicle in all its states. Using the position references, a smooth trajectory is calculated for the attitude controller to follow...
Unmanned Aerial Systems are currently in use for a wide variety of applications with digital cameras and thermal cameras, but recent advances in Short Wave Infrared (SWIR) imaging systems or imagers have led to their commercial availability. The SWIR spectrum is a reflected light region and similar to near-infrared (NIR) is invisible to human eyes. The unique properties of this spectrum such as penetration...
The accurate and precise mapping of Land Use / Land Cover (LU/LC) plays a key role in the management of a region. In particular the knowledge of areas close to rivers and / or estuaries is fundamental to prevent flooding preserving the integrity of artificial structures and natural flora and fauna. Actually the mapping is performed by processing remote sensed data with a typical GSD of 0.5m. The survey...
Aerial images with high spatial resolution and high temporal resolution were used to detect water stress based on canopy level normalized difference vegetation index (NDVI). We attempted to determine the correlation between stem water potential (SWP) and canopy NDVI with and without shade. Results indicated that removing the shade from the canopy improved the correlation between the NDVI of canopy...
It is proposed to estimate wind velocity, Angle-Of-Attack (AOA) and Sideslip Angle (SSA) of a fixed-wing Unmanned Aerial Vehicle (UAV) using only kinematic relationships with a Kalman Filter (KF), avoiding the need to know aerodynamic models or other aircraft parameters. Assuming that measurements of airspeed and attitude of an UAV are available as inputs, a linear 4th order time-varying model of...
This paper presents a framework for information-theoretic based task assignment of multiple UAVs for searching and tracking moving targets. A stochastic approach which uses probability density functions is introduced as the information gathering metric. This algorithm yields trajectory that minimizes the uncertainty of unknown information. The presented task assignment is based on the negotiation...
The last decade has witnessed both the growth in Remotely Piloted Aircraft (RPA) numbers and the introduction of the Airbus A380, the largest passenger aircraft to enter commercial service. Both introduce extremes at either end of the spectrum for weight and wingspan: into an Air Traffic Management (ATM) System where wake vortex separation minima have been unchanged for three decades. However, airport...
This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the tracking error of the linear and angular motion dynamics...
In order for Remotely Piloted Aircraft Systems (RPAS) to coexist seamlessly with manned aircraft in non-segregated airspace, enhanced navigational capabilities are essential to meet the Required Navigational Performance (RNP) levels in all flight phases. A Multi-Sensor Data Fusion (MSDF) framework is adopted to improve the navigation capabilities of an integrated Navigation and Guidance System (NGS)...
In recent years, the technology of wireless sensor networks (WSNs) have evolved quickly leading to sensors with increased memory, storage, processing, and communication capabilities. WSNs have many applications in the commercial, environmental, and military fields. In addition, the technology of unmanned aerial vehicles (UAVs) has gone through revolutionary improvements, which have led to highly advanced...
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