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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 presents an original approach for autonomous navigation based on RGB-D data and known 3D markers, where the basic concept is to detect and recognize the markers and then to use them for a straightforward pose estimation solution. The developed algorithms can allow a quadrotor to autonomously fly in (cooperative) GPS denied environments and/or when there is no natural or artificial illumination...
This work proposes an obstacle avoidance strategy for UAV navigation in indoor environments. The proposal is able to compute the distance among the UAV and the obstacles (which change their position dynamically), and then to select the closest one. When a collision risk is pointed out, the algorithm establish some escape points, whose orientation is aligned tangentially to the obstacle edge or to...
Aerial vehicle landing is an open and challenging problem. This paper focuses on development of simple guidance laws for quadrotor landing with known GPS location - stationary and moving. The guidance laws are based on missile guidance principles, namely pure pursuit, line-of-sight, and pure proportional navigation. Comparison on the performance of these guidance laws is presented through Matlab simulations...
We present an approach for the automatic visual detection and position estimation of an air-to-air refueling drogue for unmanned aircraft. The drogue, which is dragged by an ahead flying tanker, is recorded by a passive color camera.
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...
This paper deals with 3D Range-Only (RO) Simultaneous Localization and Mapping (SLAM), where the UAS integrates range measurements to a number of beacons in the environment. In the recent years RO-SLAM has attracted significant interest, it is suitable for non line-of-sight conditions and/or bad lighting, being superior to visual SLAM in some problems. However, some issues constrain its applicability...
Visual odometry and mapping methods can provide accurate navigation and comprehensive environment (obstacle) information for autonomous flights of Unmanned Aerial Vehicle (UAV) in GPS-denied cluttered environments. This work presents a new light small-scale low-cost ARM-based stereo vision pre-processing system, which not only is used as onboard sensor to continuously estimate 6-DOF UAV pose, but...
Formation control is concerned with the problem of arranging or rearranging agents into a target configuration (such as a line or surface of a sphere) while preserving threshold distances that enable communication and avoid collisions. In this work, a decentralized algorithm for formation control of a multi vehicle fault-tolerant system is proposed. By using computational geometry techniques, a novel...
This paper presents an experiment to evaluate the effects of immersive displays in a multi-UAV context in which the operator may need to understand not only the 3D spatial relationships between the UAVs but also where the UAV is with respect to mountains or other obstacles. To this end, a 3D simulator was developed and displays were selected based on their Field-of-Regard (FoR). Participants supervised...
This paper presents the development and flight testing of a novel and efficient view-based method for the navigation and control of rotorcraft unmanned aerial vehicles (UAVs) in unknown, GPS-denied, outdoor environments. At the core of our system is the Image Coordinates Extrapolation (ICE) algorithm which estimates the UAV 3D position and velocity in real-time by computing the pixel-wise difference...
Micro aerial vehicles, such as multirotors, are particular well suited for the autonomous monitoring, inspection, and surveillance of buildings, e.g., for maintenance in industrial plants. Key prerequisites for the fully autonomous operation of micro aerial vehicles in complex 3D environments include real-time state estimation, obstacle detection, mapping, and navigation planning. In this paper, we...
In this paper, we present an monocular vision-based autonomous navigation system for a commercial quadcoptor. The quadcoptor communicates with a ground-based laptop via wireless connection. The video stream of the front camera on the drone and the navigation data measured on-board are sent to the ground station and then processed by a vision-based SLAM system. In order to handle motion blur and frame...
This paper presents a method to generate and follow a smallest weighted path in 3D by quadcopter. A smallest weighted path is obtained using Dijkstra's algorithm based on terrain information. To follow the generated path we use a Model predictive control that takes constraints on jerks, position and angular acceleration on the quadcopter. Simulation results are presented to validate our approach.
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