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This article presents an image-based visual servoing system for indoor visual tracking of 3D moving objects by an Unmanned Aerial Vehicle. This system autonomously follows a 3D moving target object, maintaining it with a fixed distance and centered on its image plane. The initial setup is tested in a detailed simulation environment. The system is then validated on flights in indoor scenarios using...
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...
Modern navies perform various missions such as maritime security, maritime interdiction, and counter piracy operations in addition to their traditional wartime duties. However, most warships are not built flexible enough to conduct these tasks. Unmanned Aircraft Systems (UAS) increase the flexibility of the warships and enhance mission success. The capabilities of the UAS determine how effective the...
Given the proliferation of Unmanned Aerial Systems (UASs) for military and commercial purposes, there is a fast-approaching need for comprehensive and robust systems which secure the UAS for public safety and assurance of military goals. This paper puts forth a comprehensive system of protecting UASs against hardware and software attacks, at the lowest and highest semantic levels. This approach monitors...
Unmanned aerial vehicles (UAVs) have gained special attention in recent years, among others in monitoring and inspection applications. In this paper, a less explored application field is proposed, railway inspection, where UAVs can be used to perform visual inspection tasks such as semaphore, catenary, or track inspection. We focus on lightweight UAVs, which can detect many events in railways (for...
In this paper a fast horizon detection algorithm is introduced, which is run on an airborne visual system. It is important to run the horizon detection as fast as possible, and also with low power consumption. Hence we developed an algorithm, which has low complexity. The horizon detection uses attitude information provided by the flight control computer of the aircraft and it corrects the horizon...
In this paper, we present an algorithm called Learning-based Preferential Surveillance Algorithm (LPSA), which is specific to the problem of persistent surveillance by unmanned aerial vehicles. The novelty of the algorithm lies in providing the capability to a UAV to increase the probability of target detection through learning. The algorithm considers the neighborhood of a localized target as potential...
Development of an aerial manipulator prototype for canopy sampling is presented. As part of addressing the unique challenges of operating in a forest canopy environment, the prototype features an offset-mounted manipulator. The first steps of flight experiments have been conducted in an attempt to determine the viability of an off-the-shelf PID flight control implementation — acceptable performance...
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