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This paper presents a novel obstacle avoidance scheme for UAVs. This scheme is based on the use of a technique recently developed by one of the authors, which is based on a transformation of a variable constraint into an input saturation. In the case of obstacle avoidance, this saturation is designed so as to ensure a safe trajectory around the obstacles, offering a proof of this desired behavior...
Several approaches can be identified in the literature for area decomposition: Grid based methods, Cellular decomposition and Boustrophedon (or Morse) decomposition. This paper proposes a novel discretization method for the area based on computational geometry approaches. By using a Constrained Delaunay Triangulation, a complex area is segmented in cells which have the size of the projected field...
To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed...
This paper proposes a control structure for a heterogeneous leader-follower formation involving an unmanned ground vehicle (UGV) — the leader, and an unmanned aerial vehicle (UAV) — the follower, based on their kinematic models. The control architecture is a centralized one, in which it is possible to get the robots sensory data and to synthesize and deliver the control signals necessary to establish...
While collision avoidance and flight stability are generally a micro air vehicle's (MAVs) highest priority, many map-based path planning algorithms focus on path optimality, often assuming a static, known environment. For many MAV applications a robust navigation solution requires responding quickly to obstacles in dynamic, tight environments with non-negligible disturbances. This article first outlines...
Within this paper, the problem of 3D inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties of the infrastructure facilities, accounts for their different importance and exploration function and computes an overall inspection path of high inspection reward while respecting...
Visual odometry approaches have demonstrated to work very well for localization in GPS-denied areas, however they could quickly diverge depending on the environment. In order to achieve reliable long-term localization, it is a good practice to complement vision-based estimations with an additional source of information able to correct odometry drifts. This paper presents an approach that complements...
Personal drones are becoming part of every day life. To fully integrate them into society, it is crucial to design safe and intuitive ways to interact with these aerial systems. The recent advances on User-Centered Design (UCD) applied to Natural User Interfaces (NUIs) intend to make use of human innate features, such as speech, gestures and vision to interact with technology in the way humans would...
This document describes the motivation, theoretical description, development, and field test of a system utilizing multiple Unmanned Aerial Vehicles (UAV)s that cooperate with each other, using Unattended Ground Sensors (UGS), to monitor an area, detect intruder vehicles, capture imagery of the intruders, and deliver that imagery to the home base. Since the UAVs have no sensors/perception algorithms...
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