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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...
This paper expands upon a proposed freeway-style method of traffic management for commercial sUAS, with the goal of increasing traffic safety and efficiency. Various potential hazards that sUAS may encounter mid-flight will be examined and categorized by severity; their resulting effects on traffic flow will be analyzed when applicable. Potential design improvements will be suggested, and areas for...
In this paper, the system requirements for the integration of Remotely Piloted Aircraft Systems (RPAS) in controlled airspace regions are discussed. The specificities in terms of Air Traffic Management (ATM) level of service, jurisdiction for deconfliction duties and prevalent traffic characteristics are analysed to support the identification of operational and equipage requirements for RPAS developers...
This paper considers the problem of integrating unmanned aircraft into low altitude airspace above urban environments, including major terminal areas and helicopter landing sites. A simple set of data-driven modelling techniques are used to explore, visualise and assess existing air traffic in a manner more informative to the unmanned aircraft community. First, low altitude air traffic data sets (position...
This article provides an overview of international law governing the use of autonomous weapon systems (AWS) in an armed conflict. Using the lens of autonomous systems, the article introduces basic international humanitarian law concepts, explains the legal framework behind what makes a weapon legal, and discusses the legal parameters surrounding employment of weapon systems. It also suggests a number...
A mission restoration control system in an integrated automatic flight controller for aircraft Loss-of-Control Prevention and Recovery is presented, in which the two-phase Loss-of-Control recovery includes a LOC arrest mode and a mission restoration mode. For a trajectory tracking mission, a complete mission restoration mode is achieved by i) a close-in sub-mode of guiding the vehicle to catch up...
The goal of this work is to detect faults and cyber-physical attacks on unmanned aerial vehicles (UAVs) using dynamic state estimation to determine the nature of such vulnerabilities. We develop and introduce a distributed UAV architecture to characterize attacks and their propagation. Central to the distributed control architecture is a supervisory controller that relies on active sensing and actioning...
The small unmanned aircraft systems (SUAS) threat is not emerging. It is real. It is international. It is varied. A quadcopter landed on the White House lawn.1 A SUAS hovered in front of German Chancellor Angela Merkel while she stood on a public podium.2 Numerous unidentified SUAS' have conducted surveillance of French nuclear facilities.3 A man recently crashed his SUAS into the Empire State Building,...
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...
Small Unmanned Aerial Systems (sUAS) spread rapidly in the last years, both for civil and military applications. The performance of Dangerous, Dull and Dirty missions implies a wide use of the sUAS, in particular to manage hazardous events, such as natural or manmade major incidents or mass casualty situations. The management and control of an emergency are crucial aspects for the rescue teams and...
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...
To aid an automatic taxiing system for unmanned aircraft, this paper presents a colour based method for semantic segmentation and image classification in an aerodrome environment with the intention to use the classification output to aid navigation and collision avoidance. Based on previous work, this machine vision system uses semantic segmentation to interpret the scene. Following an initial superpixel...
This paper discusses the machine vision element of a system designed to allow automated taxiing for Unmanned Aerial System (UAS) around civil aerodromes. The purpose of the computer vision system is to provide direct sensor data which can be used to validate vehicle position, in addition to detect potential collision risks. This is achieved through the use of a singular monocular sensor. Untrained...
A method for cooperative estimation is proposed for use in multi-vehicle unmanned air systems with vision-based target tracking capabilities. The method first seeks to estimate the relative rotational and translational biases that exist between tracks from different vehicles. It then accounts for the biases and performs the track-to-track association, which determines if the tracks originate from...
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...
Insulator identification in aerial videos is one of the key procedures to the condition analysis for aerial power line inspections. This paper proposes a novel insulator recognition method for images taken by Unmanned Aerial Vehicles (UAVs) with highly cluttered background, which is to adopt a machine learning algorithm Support Vector Machine (SVM) as a classifier to distinguish insulator from the...
In a search and rescue scenario, an expeditious response is critical since the radius of the search area increases by roughly 3 km per hour while the life expectancy of the lost individual decreases. To find the object of the search as quickly as possible, the incident commander creates an overlay probability map identifying high priority search areas and develops a search plan that allocates search...
This paper presents an optimized method to employ a multirotor for collecting images to generate a 3D map of an area of interest with attention to man-made structures in the area. A genetic algorithm is combined with space partitioning methods to find an optimized path to ensure complete coverage of a desired area with necessary overlap for generating a 3D map. This path provides for the collection...
This paper presents an Unmanned Aerial System (UAS) for precision forestry applications. The UAS is capable of performing fully autonomous flights under the canopies of an unknown plantation forest by avoiding obstacles without the use of GPS navigation. The navigation framework of this system consists of a velocity estimator and an obstacle avoidance controller. In particular, the velocity estimator...
Aircraft systems are the integral part of the naval operations. These systems have been making great contribution to all kind of naval tasks and operations since previous century. On the other hand, developments in Unmanned Aircraft Systems make Naval Forces replace manned aircraft systems with unmanned ones. Consequently, utilization of Unmanned Air Craft Systems in maritime domain contributes to...
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