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In this work we present initial results of a system that combines wearable technology and monocular simultaneous localisation and mapping (SLAM) for remote controlling of a low-cost micro aerial vehicle (MAV) that flies beyond the visual line-of-sight. To this purpose, as a first step, we use a state-of-the-art visual SLAM system, called ORB-SLAM, to create a 3D map of the scene. The visual data feeding...
This work proposes a haptic teleoperation system of an unmanned aerial vehicle (UAV) aimed at localizing radiation sources in outdoor environments. Radiation sources are localized and identified by equipping the UAV with a CdZnTe-based custom X-ray detector providing light, compact, and low power operation. The UAV is guided in direct sight by the operator. The system allows exploration of potentially...
This work presents the development of a UAV cooperative strategy based on consensus navigation to solve the rendezvous problem. The Laplacian matrix is weighted by the distance among the vehicles, i.e., as closer a UAV is from another as higher the communication link is. Therefore, the communication graph, which characterizes the consensus navigation, is a dynamic one. Following, some simulation results...
Various methods have been utilized for the cooperative tasking of unmanned aerial vehicles (UAVs), with the genetic algorithm (GA) being a technique that has proven to be versatile and effective for this use. The design and implementation of a GA is both an art and a science that brings together creativity, theoretical foundations and engineering. The focus of this paper is to show how the fitness...
This paper introduces the design and practical validation 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 developed to stabilize the vehicle around a desired point. Using position references, a smooth trajectory is calculated for the attitude controller such...
This work proposes a high level dynamic model of a quadrotor UAV with a suspended load in the three dimensional space. Euler Lagrange equations are applied, and a nonlinear controller, based on partial feedback linearization, is proposed and used to guide the quadrotor in positioning and trajectory tracking tasks. The controller is responsible for stabilizing the vehicle and for rejecting the disturbance...
In this paper, we propose a method to estimate the disturbance information using repetitive technique based on a disturbance map. The disturbance map is shared among unmanned aerial vehicles (UAVs) during platoon flight. Shared map improves the estimated accuracy of disturbance observer via repetitive technique, referred as repetitive estimation. Using the estimated disturbance information, the disturbance...
Crop monitoring of large areas using unmanned aerial vehicles (UAV) is a process that involves multiple trade-offs. For a particular location a multicopter may be more suitable than a fixed-wing due to landscape, altitude, or weather conditions. In other cases the opposite may also be true and the best solution considering additional factors such as available energy and the time it takes to sample...
This paper presents a distributed saturated formation control for a multiple quadrotors (UAVs) system with leader-follower structure. Each UAV has local and limited neighbors. Stability analysis for the multi-UAV system with fixed and switching topology is given, using the theories of convex hull and perturbed matrix. Simulation results show that the quadrotors with the proposed strategy can achieve...
Unmanned aerial system (UAS) use is ever-increasing. In this paper, it is shown that even with low-cost hardware and open-source software, simple numerical testing practices (software- and hardware-in-the-loop) can prove the accuracy and usefulness of an aeronautical flight model, as well as provide valuable pre-flight testing of many situations typically only encountered in flight: high winds, hardware...
This paper is about the control tracking trajectories with a finite optimal strategy using quadcopter helicopter. We performed a lot of experiments to obtained a statistic energetic comparative analysis with PID and optimal control laws. The experimental results have shown that the optimal control is better than PID control based on energy consumption.
Airborne transport of microorganisms through the atmosphere has widespread implications for many atmospheric processes, ecological processes and human health. The proliferation of infectious disease-causing bacteria and fungi is of particular relevance, as many emerging diseases enter human populations via an atmospheric link to the surrounding environment. Coccidiodomycosis (Valley Fever), for instance,...
In the last couple of years a novel visual simultaneous localisation and mapping (SLAM) system, based on visual features, has emerged as one of the best, if not the best, systems for estimating the 6D camera pose whilst building a 3D map of the observed scene. This method is called ORB-SLAM and one of its key ideas is to use the same visual descriptor, a binary descriptor called ORB, for all the visual...
The main goal of this paper is to design a visual aid system in order to facilitate Air-to-Air Refueling (AAR) from a tanker UAV to a receiver UAV. Particularly, the presented system can be used to the assist the receiver pilot during the AAR operation. In this context, both the telemetry of the two aircrafts and the nose-camera video from the receiver are used in order to design a Heads-Up Display...
In this paper, we present a hardware-in-the-loop simulation setup for multi-UAV systems. With our setup we are able to command the robots simulated in Gazebo, a popular open source ROS-enabled physical simulator, using computational units that are embedded on our quadrotor UAVs. Hence, we can test in simulation not only the correct execution of algorithms, but also the computational feasibility directly...
In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In...
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