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Advanced approaches to intelligent, real-time decision making are difficult to test for multi-agent systems. Specifically, the expense and logistics of fielding multiple unmanned underwater vehicles in an open ocean environment are significant challenges in marine autonomy. Traditionally, algorithms may be developed and tested under ideal conditions with tools that do not accurately reflect real-time...
Underwater communication and robot technologies have grown rapidly in the last decade. Systems made of underwater unmanned vehicles have moved from single vehicle deployments to systems comprising teams of assets. As of today the possibility to support cooperation and interoperability of heterogeneous platforms is a key issue. The objective of this paper is to present the SUNRISE [1] approach to overcome...
The current technology trend in automotive navigation systems is “Display Audio” devices. These are display devices that connect directly to and are controlled by the user's smartphone. However, such devices suffer problems of driver distractibility as well as problems related to differences in the life cycle of the Display Audio device and the smartphone. In this study, we discuss the state of current...
This paper presents a novel small unmanned aerial system which can operate independently and navigate using visual sensors. The basis of the system is a 600 gram quadrotor platform with sonar, inertial sensors and a camera. All processing is performed onboard the vehicle on a lightweight and powerful computer. Vehicle navigation is provided by a two part system. A Bierman Thornton extended Kalman...
Toward Autonomous Vehicles Ford is testing remote-control repositioning technology using vehiclemounted cameras and real-time streaming video. With Georgia Techowned golf carts to prove the technology, a person sitting in a remote location can access real-time video, streamed over long-term evolution, to drive the carts. The outcome could be a more affordable and effective way to share or park vehicles...
To ensure safety and usability of advanced in-car cockpit solutions, prospective evaluation during early prototyping stages is important, especially when developing innovative human-cockpit-interactions. In this context, highly realistic test environments will help to provide reliable and valid findings. Nevertheless, real car driving studies are difficult to control, manipulate, replicate and standardize...
The current technological trend in car navigation systems is the use of a Display Audio device connected to a smart phone. However, driver distraction, the differing life cycle between the Display Audio and the smart phone used, and other problematic issues exist. In this study, we discuss the current on-vehicle information devices, and propose a new architecture for an on-vehicle information system...
This paper addresses the development and implementation of a testbed for object's manipulation by using unmanned aerial vehicles AR.Drone and the VICON Cameras System. Such testbed allows the user to choose among two development environments to perform aerial manipulation establishing a communication with LabVIEW, ROS and the C++ Qt library; thus, the user can employ the development environment more...
In this paper a new model to formally represent some units of a vehicular network system is presented. We show how this formalism, based on finite state machines augmented with variables, allows us to represent such kind of system. We focus in a scenario of vehicle to infrastructure (V2I) communication with the Dynamic Route Planning (DRP) service as a case study. We enrich this model by a new negotiation...
To successfully make the transition from traditional physical products to next-generation cyber-physical systems, many manufacturers will have to reinvent their innovation and development processes and take a user-centric engineering approach.
We have accomplished a design about the control system of the unmanned surface vehicle (USV) with double propellers. Firstly, we introduce the hardware design of control system of USV. Then, the mathematics model of a boat based on double bodies is established, and it provides the basis for the study of the navigation control arithmetic. And then, navigation control technology of the USV is in-depth...
Field application of unmanned aerials systems (UASs) have increased in the last decade, with special focus on missions in which there is any kind of risk for the crew. However, in some situations the lack of onboard pilots makes the mission execution a very difficult task. As an example one has long endurance missions over rain forest, and glacial areas, due to the uniform patterns. In this scenario...
The number and variety of unmanned vehicles tasked with operational support of Navy missions has increased significantly over the past decade. This trend continues under the direction of CNO to utilize these technologies for reduced cost and risk in future military applications. As the use of these assets expands across all forces, expectations in the capabilities and performance of unmanned vehicles...
A simulator was designed for troubleshooting the hovering AUV Mola Mola, operated by the National Institute for Undersea Science and Technology. The SeaBED class Mola Mola had suffered several failures in its last 2010 cruise and two 2011 cruises. Through simulator testing, these failures were found to be a single power system issue that manifested itself in three very different ways as it worsened...
This paper presents a new software development approach for intelligent transportation system (ITS) that can be considered as an application of Cyber-physical systems (CPS); it signifies that the event features should be the central of the CPS software design process rather than objects or functions. It tends to be easier to be executed in practice as it introduces a few simplifications. A complete...
The AUVSI Autonomous Surface vehicle event is a student-based competition where teams design, build and compete with fully autonomous surface vessel. These vehicles are required to preform many different tasks that vary from competition to competition but the ability to navigate channels marked by red and green markers and perform GPS based navigation is always a constant. Embry-Riddle Aeronautical...
During processing, visualization and analysis of multi-variable oceanographic data sets from an AUV it can be challenging to both maintain overview and pay attention to detail. We here describe a software system intended to bridge this gap and discuss its application on ADCP and CTD data recently acquired by the HUGIN 1000 AUV in the Barents Sea. The software, ANCOR II, features interactive graphics...
A flexible modular robotic software environment based on the popular MRPT toolkit is reported in this paper that is able to integrate path planning, navigation and control algorithms easily from several sources. The different modules (which are responsible for SLAM, trajectory tracking, sensor and actuator handling, visualization etc.) communicate with each other via a carefully developed network...
This paper reports the theory and implementation of a decentralized navigation system that enables simultaneous single-beacon navigation of multiple underwater vehicles. In single-beacon navigation, each vehicle uses ranges from a single, moving reference beacon in addition to its own inertial navigation sensors to perform absolute localization and navigation. In this implementation the vehicles perform...
This paper presents a method to solve the correspondence problem in matching the stereo image using Sum of Absolute Differences (SAD) algorithm. The computer vision application in this paper is using an autonomous vehicle which has a stereo pair on top of it. The estimation of range is using curve fitting tool (cftool) for each detected object or obstacles. This tool is provided by Matlab software...
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