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This paper presents customized techniques for autonomous localization and mapping of micro Unmanned Aerial Vehicles flying in complex environments, e.g. unexplored, full of obstacles, GPS challenging or denied. The proposed algorithms are aimed at 2D environments and are based on the integration of 3D data, i.e. point clouds acquired by means of a laser scanner (LIDAR), and inertial data given by...
This paper presents an optimized method to employ a multirotor for collecting images to generate a 3D map of an area of interest with attention to man-made structures in the area. A genetic algorithm is combined with space partitioning methods to find an optimized path to ensure complete coverage of a desired area with necessary overlap for generating a 3D map. This path provides for the collection...
This paper presents a decentralized multi-agent motion planning method for aerial robots moving among 3D polygonal obstacles. The algorithm combines a prioritized A∗ algorithm for high-level (global) planning along with a barrier functions-based method for low-level (local) coordination and control. We first extend the barriers function method developed in earlier work to treat arbitrary polygonal...
Payload sensory information is critical to improve the degree of realism and context awareness in multi-UAV simulators. This paper describes a simulator for multi-payload cooperative UAS missions. It adopts an open Software-In-The-Loop (SITL) approach where the simulation of payload sensors and UAV navigation systems are distributed providing high degree of realism. The proposed simulation tool imposes...
This paper presents the development of a 3D obstacle avoidance algorithm for Unmanned Aerial Vehicle (UAV) system. The avoidance algorithm works by generating avoiding waypoints, within the original predefined waypoints, when the vehicle faces obstacles obstructing its flightpath. The proposed approach bases its algorithm on the utilization of ellipsoid geometry for defining a restricted zone containing...
This paper presents a novel human robot interaction system that can be used for real-time 3D environment exploration with an unmanned aerial vehicle (UAV). The method creates a mixed reality environment, in which a user can interactively control a UAV and visualize the exploration data in real-time. The method uses a combination of affordable sensors, and transforms the control and viewing space from...
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