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This paper presents a system for collision-free trajectory planning with multiple Unmanned Aerial Vehicles (UAVs) which automatically identifies conflicts among them. After detecting conflicts between UAVs, the system resolves them cooperatively using a collision-free trajectory planning algorithm based on a stochastic optimization technique named Particle Swarm Optimization (PSO). The new implementation...
This paper describes the theory and implementation of a trajectory optimization layer operating within an energy-aware, airborne, dynamic data-driven application system (EA-DDDAS). The work addresses wind field data estimation, trajectory optimization, and implementation of communication protocols to increase sUAS endurance in persistent sensing missions. The trajectory optimization layer acts as...
In this paper we propose a novel approach for trajectory optimization for constrained Unmanned Aerial Vehicles (UAVs). With regard to the classical trajectory optimization problem, we take a Virtual Target Vehicle (VTV) perspective by introducing a virtual target that plays the role of an additional control input. Based on a nonlinear projection operator optimal control technique and extending the...
In order to achieve a high degree of operational flexibility, it is often required to recover small UAVs without infrastructure such as a runway. To help overcome this difficulty, deep stall landing can be used as a landing method on small space. The UAV is in a deep stall when the angle of attack is beyond the stall angle, and the condition causes the UAV to loose height rapidly. In the post-stall...
This paper presents the algorithms enabling real-time 4-Dimensional Flight Trajectory (4DT) functionalities in Next Generation Mission Management Systems (NG-MMS), which are the core element of future Remotely Piloted Aircraft Systems (RPAS) avionics. In particular, the algorithms are employed for multi-objective optimisation of 4DT intents in various operational scenarios spanning from online strategic...
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,...
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...
Visual odometry, especially using a forward-looking camera only, can be challenging: It is doomed to fail from time to time and will inevitably drift in the long run. We accept this fact and present methods to cope with and correct the effects for an autonomous MAV using an RGBD camera as its main sensor. We propose correcting drift and failure in visual odometry by combining its pose estimates with...
This paper describes the design procedure of a convertible miniature (mini and micro) quad tilt rotor unmanned air vehicle (UAV), which has about 2 meters of wing span, one hour of mission time and 5 kilograms of total weight. The aircraft is driven by four brushless direct current motors, and the structure of it completely made of composite materials. When the wing and tail of the aircraft are dismounted,...
This work presents a novel real-time algorithm for runway detection and tracking applied to the automatic takeoff and landing of Unmanned Aerial Vehicles (UAVs).
Current solutions to deal with control objectives in over-actuated systems consist in distributing control efforts among redundant actuators. However, there is no or little consideration on the employed criteria to achieve such distribution. This paper proposes reliable control allocation methods where the objective is to manage control inputs in order to maintain system performance and at the same...
This paper discusses the control strategies of a fleet of robots, especially the control by the virtual leader. The main contribution consists is to achieve the control of a group of vehicles while following a predefined mission carried out thanks to a virtual leader, and simultaneously avoiding the collisions between the different agents of the group. The approach proposed in this paper is based...
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