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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 addresses the problem of designing and experimentally validating a nonlinear disturbance observer, focus on the attitude regulation control problem of a quad-rotor in presence of external disturbances. The proposed nonlinear observer scheme is based on the angular velocity measurements and the control inputs in order to compensate external disturbances. The stability analysis of the nonlinear...
This article proposes a methodology for enabling Unmanned Aircraft Systems (UASs) to avoid obstacles. The strategy, which makes use of a Robust Exact Differentiation (RED), relies on spiral trajectory tracking maneuvers, and is based on a backstepping controller with disturbance compensation. The RED strategy has been adopted since it enables the exact estimation of disturbances from the first moment,...
In this paper, an unmanned aerial vehicle (UAV) based forest fire detection and tracking method is proposed. Firstly, a brief illustration of UAV-based forest fire detection and tracking system is presented. Then, a set of forest fire detection and tracking algorithms are developed including median filtering, color space conversion, Otsu threshold segmentation, morphological operations, and blob counter...
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).
When maritime accidents occur, search and rescue (SAR) operations for survivors are a top priority. To conduct the SAR, a fleet of Unmanned Aerial Vehicles (UAVs) can be used. The objective of the search task is to maximize the probability of locating targets. The goal of the rescue task is to follow survivors, transmit their location and status to the command center, and await the rescue team. In...
Agile UAVs is a special class of fixed-wing aircraft characterized by high thrust-to-weight ratios (around 2 to 3) and big control surfaces (around 40 to 50% chord) with deflections as large as 50 degrees; and hence capable of extreme maneuvers and aerobatics. The intent of this paper is to model the aerodynamics of agile UAVs for real-time applications such as pilot-in-loop aircraft simulation, accounting...
This paper describes the results obtained in the implementation of a solution implementing real-time precise and accurate attitude and position estimation algorithms designed for control applications based on an Android smartphone. The topic of the paper is in particular the application of this solution to dynamics sensing in a quadrotor Unmanned Aerial Vehicle (UAV). The attitude estimation is based...
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