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The use of multiple heterogeneous, low-cost, small Unmanned Aerial Vehicles (UAVs) as a tool in several application domains is becoming increasingly important. One critical aspect to enable the use of such vehicles is the coordination/planning system, whose task complexity increases with the number of vehicles and the communications constraints that arise due to their small size and large distances...
The paper addresses a robust navigation strategy of a rotorcraft class having a simple robotic arm to perform rapid in-flight retrieving operations in presence of wind gusts and aerodynamic effects. The target-acquiring trajectory planner is based on a cosinusoidal dynamic pattern. The mathematical model is extended to account not only the dynamics of the robotic arm but also the aerodynamics. The...
In polar region operations, drift sea ice positioning and tracking is useful for both scientific and safety reasons. Modeling ice movements has proven difficult, not least due to the lack of information of currents and winds of high enough resolution. Thus, observations of drift ice is essential to an up-to-date ice-tracking estimate. Recent years have seen the rise of Unmanned Aerial Systems (UAS)...
This paper presents an ambitious methodology of autonomous navigation for multirotor UAVs in obstructed environments. The strategy was formulated to provide the multirotor vehicles the capability to produce autonomously quasi-optimal and safe trajectories, although generally they have at their disposal limited computational resources on board. The problem is formulated in a model predictive control...
This paper considers the dynamic optimization of the planned path for an Unmanned Aerial Vehicle (UAV) engaged in circular towing of a cable-body system, such that the motion of the towed endmass is stabilized with minimum motion relative to a desired target position. The ultimate research objective is to develop a concept to enable a fixed wing UAV to be used for end body precision positioning maneuvers...
In this paper, the generation of three-dimensional trajectories for unmanned aerial systems in presence of path constraints and limited vehicle maneuvering capabilities is discussed. The paper extends a previous work, which concerned with only obstacles of cylindrical shape having infinite height. On the contrary, the proposed algorithm introduces height limitations to cylindrical shape forbidden...
This article presents a path planning optimization method which aims to mitigate the risks in the event of a critical engine or generator failure in hybrid-electric UAS. This is achieved through continuous determination of the optimum flight path, based on the remaining battery range and expected local wind conditions. The result is a dynamically adjusting flight path which ensures the aircraft to...
In this paper, we present a new approach for maximizing the coverage path planning while minimizing the path length of an aerial robot in agriculture environment with concave obstacles. For resolving this problem, we propose a new cellular decomposition which is based on a generalization of the Boustrophedon variant, using Morse functions, with an extension of the representation of the critical points...
For micro aerial vehicles (MAV) to operate in indoor environments, several challenges have been identified such as collision avoidance. This paper aims to present a small scale indoor demonstrator of an indoor collision avoidance system using the Parrot Ardrone 2.0 and the tum_ardrone ROS package. In addition, obstacle detection was developed in order to detect obstacles from the point cloud extracted...
This paper introduces a method for path tracking based on a basic pure pursuit (PP) algorithmic strategy. To increase the robustness and reliability in coverage and tracking tasks using multiple Unmanned Aerial Systems (UAS), several criteria must be taken into consideration, like safe separation between the vehicles and complete area coverage based on their on board sensors. In this context, we propose...
This paper proposes a method to investigate into helicopter landing on uneven terrain by means of using a scaled articulated robotic landing gear. A mathematical model of an articulated robotic landing gear that adapts to uneven ground conditions is considered. The model consists of a planar landing gear composed of two legs connected by a base and a skid at each end. Each skid has two degrees of...
This paper presents a first assessment on the impact of atmospheric icing on the aerodynamic performance of fixed-wing UAVs. Numerical simulations were performed in order to evaluate the impact on lift and drag on a 2D airfoil for UAVs. The results show clear evidence that icing increases drag while decreasing lift and the maximum angle of attack. All these effects have negative impact on the maneuverability,...
This paper proposes a decoy application using a ducted-fan flight array system which consists of multiple single modules. Each single module has a conventional ducted-fan configuration and can fly individually. For the single module and the connected array, kinematic and dynamic models are briefly introduced. Based on the derived models, a control system using the sliding mode control (SMC) and proportional-integral-derivative...
We address the issue of autonomously planning a flight path for a remotely controlled surveillance aircraft when control is lost due to jamming. An optimization problem arises where we want the aircraft to continue surveying in the jammed area so that a possible attack does not go unnoticed, but we want the aircraft to leave the jammed area (and report any collected information) while there is still...
This article describes a method of organizing the communication protocol, which allows agents of the multiagent system (MAS) to make decisions about their actions. Plan activities and interact with each other to perform tasks of modern industrial and business processes based on cyber-physical systems. The main attention is paid to those multi-agent systems, where autonomous agents — robots or smart...
This paper proposes new rules for the regulation of a Cloud-based Remotely Piloted Aircraft Systems (RPAS), which is operating in urban environment. The novelty of this proposed regulation is dual: (i) regulation of a Cloud-based system focusing on safety and robustness, (ii) definition of requirements for the RPAS in urban area. A new concept for the regulation is proposed, compared to existing worldwide...
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