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In robotics, the navigation problem can be split in planning, execution, checking and correction. An approach to deal with these tasks is based on the Multi-Layer Control scheme (MLCS). In this technique, each layer is responsible for an individual step of the formation control problem, such as; to define and optimize the desired robot pose; to avoid or minimize collision risks; to control the robots...
A number of autonomous unmanned aerial vehicles (UAV) are tasked to search an unknown/uncertain environment, and neutralize targets whenever they come across such threats. Due to resource constraints of the UAVs, neutralizing some threats require simultaneous effort of a certain number of UAVs in minimum. When a UAV detects multiple such targets which require team efforts, it needs to communicate...
Technology is on the brink of enabling fully autonomous unmanned aircraft system (UAS) operations that can supersede the role of humans in every respect. However, in the United States (U.S.), the regulatory structure for these aircraft remains in its nascent stage. The Federal Aviation Administration's (FAA) current UAS regulations, based on the existing regulatory model applicable to manned aircraft,...
Remotely Piloted Aircraft Systems (RPAS) are being widely studied and developed due to their mission flexibility, reconfigurable architecture and low cost. In this paper, a novel Cloud-based framework for intelligent navigation of RPAS in urban environments is proposed, toward achieving fully-autonomous missions without compromising safety. The advantages of the proposed approach reside in the flexibility...
This paper presents the development of an object path following algorithm for a quadcopter using on-board vision and localization. This development aims to increase capabilities of autonomous unmanned aerial vehicles (UAV), with the use of object path following. By following an object's path, reliance on obstacle avoidance strategies can be reduced, under the assumption that the object's path is free...
This paper presents the design and implementation of a cost-effective, lightweight, yet power efficient tail-sitter Vertical Take-off and Landing (VTOL) unmanned aerial vehicle (UAV). The UAV consists a pair of wings for efficient level flight and four rotors for attitude control. The aerodynamic and mechanical configurations of the UAV are designed and implemented from scratch to meet the required...
The development of a three-dimensional (3D) formation controller for unmanned aerial vehicles (UAVs) associated with an event-triggered transmission protocol is presented in this paper. The formation controller is derived based on a 3D relative kinematic model established upon a local-level coordinate frame, which does not require any absolute global information. The proposed controller is developed...
This article presents a framework and develops a formulation to solve a path planning problem for multiple heterogeneous Unmanned Vehicles (UVs) with uncertain service times for each vehicle-target pair. The vehicles incur a penalty proportional to the duration of their total service time in excess of a preset constant. The vehicles differ in their motion constraints and are located at distinct depots...
We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the...
Unmanned Aerial Vehicle (UAV) development is a field with rising interest in recent years. One of its essential part is the autopilot, responsible for keeping the aircraft in desired flight conditions and for executing navigation tasks. Among the navigation tasks, one that stands out is the path- following operation, which guarantees that the aircraft follows a predefined trajectory. The literature...
A methodology to locate a target using measurements of its signal strength is discussed in this paper. One of the main challenges lie in locating the source when it is moving or has time varying signal strength. In this paper two different strategies to locate and intercept a time varying and moving source by an Unmanned Aerial Vehicle (UAV) is presented. In the first strategy the UAV traverses a...
This paper proposes a path finding method for two unmanned aerial vehicles with localization constraints using a modified shortest path algorithm. A beacon vehicle has GPS or other absolute positioning information, and a target vehicle has only bearing information taken relative to the beacon vehicle or known stationary landmarks. By overlaying a grid on the map and discretizing the position uncertainty,...
This work presents the flight test validation of an autonomous nano quadrotor called Crazyflie 2.0 in arbitrary trajectory tracking. The complexity of the control tasks were due to the low rigidity and high flexibility of propellers and airframe components, high sensitivity of vehicle inertial dynamic model to the battery location, uncalibrated motors, and unsteady battery depletion rate. Keeping...
A quadrotor is an underactuated unmanned aerial vehicle with four inputs to control the dynamics. Trajectory control of a quadrotor is a challenging task and usually tackled in a hierarchical framework where desired/reference attitude angles are analytically determined from the desired command signals, i.e. virtual controls, that control the positional dynamics of the quadrotor and the desired yaw...
This paper proposes an integrated system architecture composed by a custom-designed lightweight Ground Penetrating Radar (GPR) and a novel method for low-altitude autonomous flight called Backstepping+DAF. Simulations and experimental results are carried out to evaluate how steady flight is achieved by means of the proposed flight controller that consequently enables the GPR detection of buried objects...
This work presents an adaptive trajectory tracking controller for an unmanned aerial vehicle (UAV) which combines a feedback linearization controller based on a nominal model of a quadrotor and a Neuro Adaptive Compensation (NAC). The NAC is introduced in order to minimize the control errors caused by uncertainties in the nominal parameters. The uncertain parameters of the nominal model are balanced...
This paper investigates the problems of task assignment and trajectory planning for teams of cooperative unmanned aerial vehicles (UAVs). A novel approach of hierarchical fuzzy logic controller (HFLC) and particle swarm optimization is proposed. Initially, teams of UAVs are moving in a pre-determined formation covering a specified area. When one or more targets are detected, the teams send a package...
Tilt rotor unmanned aerial vehicle (TRUAV) with ability of hovering and high-speed cruise has attached much attention, but its transition control is still a difficult point because of varying dynamics. This paper proposes a multi-model adaptive control (MMAC) method for a quad-TRUAV, and the stability in the transition procedure could be ensured by considering corresponding dynamics. For safe transition,...
Unmanned aerial vehicle (UAV) based computer vision system, as a more and more promising option for forest fires surveillance and detection, is now widely employed. In this paper, an image processing method for the application to UAV is presented for the automatic detection of forest fires in infrared (IR) images. The presented algorithm makes use of brightness and motion clues along with image processing...
We consider a Persistent Intelligence, Surveillance and Reconnaissance (PISR) routing problem, which includes collecting data from a set of specified task locations and delivering that data to a control station. Each task is assigned a refresh rate based on its priority, where higher priority tasks require higher refresh rates. The UAV team's objective is to minimize the maximum of the delivery times...
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