Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441029
Vindhya Devalla, A. Mondal, O. Prakash
This paper presents an approach to design and develop an Unmanned Powered Parafoil Aerial Vehicle (UPPAV) to surveillance an area. The paper discusses in detail about the relation between Parafoil size and payload weight. Analytical calculations are done to understand the UPPAV performance. The performance results are then compared with open loop flight test results.
{"title":"Performance analysis of a powered parafoil unmanned aerial vehicle using open loop flight test results and analytical results","authors":"Vindhya Devalla, A. Mondal, O. Prakash","doi":"10.1109/RED-UAS.2015.7441029","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441029","url":null,"abstract":"This paper presents an approach to design and develop an Unmanned Powered Parafoil Aerial Vehicle (UPPAV) to surveillance an area. The paper discusses in detail about the relation between Parafoil size and payload weight. Analytical calculations are done to understand the UPPAV performance. The performance results are then compared with open loop flight test results.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"83 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131366375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441015
Brendan Smith, M. Beman, D. Gravano, Y. Chen
Airborne transport of microorganisms through the atmosphere has widespread implications for many atmospheric processes, ecological processes and human health. The proliferation of infectious disease-causing bacteria and fungi is of particular relevance, as many emerging diseases enter human populations via an atmospheric link to the surrounding environment. Coccidiodomycosis (Valley Fever), for instance, is a debilitating fungal disease contracted through the inhalation of Coccidiodes immitis and Coccidiodes posadasii of central California and elsewhere in the southwestern United States and northwestern Mexico. Recent studies suggest an increase in the incidence of Valley Fever throughout this region, but how the fungus is transported through the atmosphere is not well known. This is due in part to the fact that there is no effective and reliable standardized method for acquiring fungal spores at an elevated altitude, nor to do so rapidly-which would aid in limiting human exposure. This work fills the voids of sensing capability and rapid detection by means of small unmanned aerial systems (sUAS). The use of an sUAS enables low-altitude sampling, in addition to the low-cost development and operation of the payload. The payload consists of two coupled subsystems, which log environment data and extract a bioaerosol sample. The data and sample is analyzed and validated via a variety of molecular biological and microbiological techniques.
{"title":"Development and validation of a microbe detecting UAV payload","authors":"Brendan Smith, M. Beman, D. Gravano, Y. Chen","doi":"10.1109/RED-UAS.2015.7441015","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441015","url":null,"abstract":"Airborne transport of microorganisms through the atmosphere has widespread implications for many atmospheric processes, ecological processes and human health. The proliferation of infectious disease-causing bacteria and fungi is of particular relevance, as many emerging diseases enter human populations via an atmospheric link to the surrounding environment. Coccidiodomycosis (Valley Fever), for instance, is a debilitating fungal disease contracted through the inhalation of Coccidiodes immitis and Coccidiodes posadasii of central California and elsewhere in the southwestern United States and northwestern Mexico. Recent studies suggest an increase in the incidence of Valley Fever throughout this region, but how the fungus is transported through the atmosphere is not well known. This is due in part to the fact that there is no effective and reliable standardized method for acquiring fungal spores at an elevated altitude, nor to do so rapidly-which would aid in limiting human exposure. This work fills the voids of sensing capability and rapid detection by means of small unmanned aerial systems (sUAS). The use of an sUAS enables low-altitude sampling, in addition to the low-cost development and operation of the payload. The payload consists of two coupled subsystems, which log environment data and extract a bioaerosol sample. The data and sample is analyzed and validated via a variety of molecular biological and microbiological techniques.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134081270","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441002
Sina Sharif Mansouri, G. Nikolakopoulos, T. Gustafsson
In this article a distributed model predictive control scheme, for the cooperative motion control of Unmanned Aerial Vehicles (UAVs) is being presented. The UAVs are modeled by a 6-DOF nonlinear kinematic model. Two different control architectures: a centralized and a distributed MPC, are studied and evaluated in simulation experiments. In the centralized approach, one central MPC controller is responsible for the movement coordination of all the UAVs, while in the distributed approach each aerial vehicle plans only for its own actions, while the objective function is coupled with the behavior of the rest of the team members and the constraints are decoupled. In this approach, each agent only shares the future position of itself with the other agents to avoid collisions. For reducing the computation time and complexity, only one step ahead prediction in the corresponding MPC schemes have been considered without a loss of generality. Finally, the efficiency of the overall suggested decentralized MPC scheme, as well as it comparison with the centralized approach, is being evaluated through the utilization of multiple simulation scenarios.
{"title":"Distributed model predictive control for unmanned aerial vehicles","authors":"Sina Sharif Mansouri, G. Nikolakopoulos, T. Gustafsson","doi":"10.1109/RED-UAS.2015.7441002","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441002","url":null,"abstract":"In this article a distributed model predictive control scheme, for the cooperative motion control of Unmanned Aerial Vehicles (UAVs) is being presented. The UAVs are modeled by a 6-DOF nonlinear kinematic model. Two different control architectures: a centralized and a distributed MPC, are studied and evaluated in simulation experiments. In the centralized approach, one central MPC controller is responsible for the movement coordination of all the UAVs, while in the distributed approach each aerial vehicle plans only for its own actions, while the objective function is coupled with the behavior of the rest of the team members and the constraints are decoupled. In this approach, each agent only shares the future position of itself with the other agents to avoid collisions. For reducing the computation time and complexity, only one step ahead prediction in the corresponding MPC schemes have been considered without a loss of generality. Finally, the efficiency of the overall suggested decentralized MPC scheme, as well as it comparison with the centralized approach, is being evaluated through the utilization of multiple simulation scenarios.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125391407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440989
G. Pepe, Massimo Satler, P. Tripicchio
The paper presents a system designed for micro-aerial-vehicles capable of autonomously explore an indoor environment, detect objects in the environment and build a map of the environment structure with reference to objects locations within the map. The found objects are saved in an internal database containing all previously recognized objects. The system allows fast exploration time and it is characterized by lightweight computation algorithms for the localization, map building and navigation components. The environment map is built as a set of 2D feature map layers where each layer corresponds to an environment floor. For each framework component a simulated testing scenario is presented to evaluate the capabilities of the designed algorithms. The introduced system is efficient from the computational cost point of view and allows fast exploration time that is critical for battery powered systems.
{"title":"Autonomous exploration of indoor environments with a micro-aerial vehicle","authors":"G. Pepe, Massimo Satler, P. Tripicchio","doi":"10.1109/RED-UAS.2015.7440989","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440989","url":null,"abstract":"The paper presents a system designed for micro-aerial-vehicles capable of autonomously explore an indoor environment, detect objects in the environment and build a map of the environment structure with reference to objects locations within the map. The found objects are saved in an internal database containing all previously recognized objects. The system allows fast exploration time and it is characterized by lightweight computation algorithms for the localization, map building and navigation components. The environment map is built as a set of 2D feature map layers where each layer corresponds to an environment floor. For each framework component a simulated testing scenario is presented to evaluate the capabilities of the designed algorithms. The introduced system is efficient from the computational cost point of view and allows fast exploration time that is critical for battery powered systems.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127802024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441011
J. J. Ruiz, J. Martín, A. Ollero
The main goal of this paper is to design a visual aid system in order to facilitate Air-to-Air Refueling (AAR) from a tanker UAV to a receiver UAV. Particularly, the presented system can be used to the assist the receiver pilot during the AAR operation. In this context, both the telemetry of the two aircrafts and the nose-camera video from the receiver are used in order to design a Heads-Up Display (HUD) that overlays the visual feedback. In addition, the design of the HUD followed a Situation Awareness (SA) methodology focused on AAR operations. Finally, an experiment setup with a simulation environment and the HUD is proposed. Evaluation methodology was based on a NASA Task Load Index (TLX) questionnaire and a telemetry analysis. Results showed that the design of the HUD improved some parameters involved in the AAR mission success and reduced the mean workload experienced by the operator.
{"title":"Enhanced video camera feedback for teleoperated aerial refueling in unmanned aerial systems","authors":"J. J. Ruiz, J. Martín, A. Ollero","doi":"10.1109/RED-UAS.2015.7441011","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441011","url":null,"abstract":"The main goal of this paper is to design a visual aid system in order to facilitate Air-to-Air Refueling (AAR) from a tanker UAV to a receiver UAV. Particularly, the presented system can be used to the assist the receiver pilot during the AAR operation. In this context, both the telemetry of the two aircrafts and the nose-camera video from the receiver are used in order to design a Heads-Up Display (HUD) that overlays the visual feedback. In addition, the design of the HUD followed a Situation Awareness (SA) methodology focused on AAR operations. Finally, an experiment setup with a simulation environment and the HUD is proposed. Evaluation methodology was based on a NASA Task Load Index (TLX) questionnaire and a telemetry analysis. Results showed that the design of the HUD improved some parameters involved in the AAR mission success and reduced the mean workload experienced by the operator.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132764258","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441006
F. Jurado, M. Rodriguez, A. Dzul, Ricardo Campa
In this paper, a filtering algorithm is proposed in order to improve the linearization procedure of the extended Kalman filtering (EKF). Our proposal consists of a parallel computing scheme, here called dual modified EKF (DMEKF), which comprises two algorithms to generate state estimates. One of the algorithms, namely Algorithm I, is a modification of the EKF, i.e. it differs from the EKF in that the real-time linear Taylor approximation is not taken at the previous estimate; instead, it is taken at the estimate by a second EKF algorithm, namely Algorithm II. Simulation results show that our proposal outperforms the EKF when trajectory tracking tasks are carried out by a quadrotor unmanned aerial vehicle (UAV) in a stochastic environment.
{"title":"Stochastic feedback controller for a quadrotor UAV with dual modified extended Kalman filter","authors":"F. Jurado, M. Rodriguez, A. Dzul, Ricardo Campa","doi":"10.1109/RED-UAS.2015.7441006","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441006","url":null,"abstract":"In this paper, a filtering algorithm is proposed in order to improve the linearization procedure of the extended Kalman filtering (EKF). Our proposal consists of a parallel computing scheme, here called dual modified EKF (DMEKF), which comprises two algorithms to generate state estimates. One of the algorithms, namely Algorithm I, is a modification of the EKF, i.e. it differs from the EKF in that the real-time linear Taylor approximation is not taken at the previous estimate; instead, it is taken at the estimate by a second EKF algorithm, namely Algorithm II. Simulation results show that our proposal outperforms the EKF when trajectory tracking tasks are carried out by a quadrotor unmanned aerial vehicle (UAV) in a stochastic environment.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125270236","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441022
D. Bensoussan
A new control algorithm that guarantees ultrafast and robust control for unstable invertible plants (Bensoussan, 2014) has been recently tested at McGill University (Bensoussan, 2015, Bensoussan & Boulet 2015). It has shown that it is possible to get a time response with minimal overshoot and with settling time equal to rise time while keeping good stability margins. This method can be extended to multivariable unstable invertible systems that are ultimately (i.e. at high frequency) diagonally dominant, ensuring decentralized control while using local (i.e. diagonal) controllers.
{"title":"A new avenue of research in robust and ultrafast decentralized control","authors":"D. Bensoussan","doi":"10.1109/RED-UAS.2015.7441022","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441022","url":null,"abstract":"A new control algorithm that guarantees ultrafast and robust control for unstable invertible plants (Bensoussan, 2014) has been recently tested at McGill University (Bensoussan, 2015, Bensoussan & Boulet 2015). It has shown that it is possible to get a time response with minimal overshoot and with settling time equal to rise time while keeping good stability margins. This method can be extended to multivariable unstable invertible systems that are ultimately (i.e. at high frequency) diagonally dominant, ensuring decentralized control while using local (i.e. diagonal) controllers.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126812224","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441012
J. Martínez-Carranza, Francisco Marquez, Esteban O. Garcia, A. Muñoz-Meléndez, W. Mayol-Cuevas
In this work we present initial results of a system that combines wearable technology and monocular simultaneous localisation and mapping (SLAM) for remote controlling of a low-cost micro aerial vehicle (MAV) that flies beyond the visual line-of-sight. To this purpose, as a first step, we use a state-of-the-art visual SLAM system, called ORB-SLAM, to create a 3D map of the scene. The visual data feeding ORB-SLAM is obtained from imagery transmitted from the on-board camera of our low-cost vehicle. This vehicle can not process data on board, however, it can transmit images at a rate of 15-20 Hz, which we found sufficient to carry out the visual localisation and mapping. The second step in our system is to replace the conventional controller with a pair of wearable-sensor-based gloves worn by the user so he/she can command the MAV by only performing hand gestures. Our goal is to show that the user can fly the vehicle beyond the line-of-sight by only using the vehicle's pose and map estimates in real time and that commanding the MAV with hand gestures will enable him/her to focus more on the flight task. Our preliminary results indicate the feasibility of our approach.
{"title":"On combining wearable sensors and visual SLAM for remote controlling of low-cost micro aerial vehicles","authors":"J. Martínez-Carranza, Francisco Marquez, Esteban O. Garcia, A. Muñoz-Meléndez, W. Mayol-Cuevas","doi":"10.1109/RED-UAS.2015.7441012","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441012","url":null,"abstract":"In this work we present initial results of a system that combines wearable technology and monocular simultaneous localisation and mapping (SLAM) for remote controlling of a low-cost micro aerial vehicle (MAV) that flies beyond the visual line-of-sight. To this purpose, as a first step, we use a state-of-the-art visual SLAM system, called ORB-SLAM, to create a 3D map of the scene. The visual data feeding ORB-SLAM is obtained from imagery transmitted from the on-board camera of our low-cost vehicle. This vehicle can not process data on board, however, it can transmit images at a rate of 15-20 Hz, which we found sufficient to carry out the visual localisation and mapping. The second step in our system is to replace the conventional controller with a pair of wearable-sensor-based gloves worn by the user so he/she can command the MAV by only performing hand gestures. Our goal is to show that the user can fly the vehicle beyond the line-of-sight by only using the vehicle's pose and map estimates in real time and that commanding the MAV with hand gestures will enable him/her to focus more on the flight task. Our preliminary results indicate the feasibility of our approach.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124922122","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440991
T. Zsedrovits, P. Bauer, Máté Németh, B. Pencz, Á. Zarándy, B. Vanek, J. Bokor
Several camera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Simulation results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.
{"title":"Performance analysis of camera rotation estimation algorithms for UAS sense and avoid","authors":"T. Zsedrovits, P. Bauer, Máté Németh, B. Pencz, Á. Zarándy, B. Vanek, J. Bokor","doi":"10.1109/RED-UAS.2015.7440991","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440991","url":null,"abstract":"Several camera rotation estimator algorithms are tested in simulations and on real flight videos in this paper. The aim of the investigation is to show the strengths and weaknesses of these algorithms in the aircraft attitude estimation task. The work is part of a research project where a low cost UAV is developed which can be integrated into the national airspace. Two main issues are addressed with these measurements, one is the sense-and-avoid capability of the aircraft and the other is sensor redundancy. Both parts can benefit from a good attitude estimate. Thus, it is important to use the appropriate algorithm for the camera rotation estimation. Simulation results show that many times even the simplest algorithm can perform at an acceptable level of precision for the sensor fusion.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131747674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441010
Thais Bento da Silva, Matheus V. M. Souza e Silva, A. Brandão
This work presents the development of a UAV cooperative strategy based on consensus navigation to solve the rendezvous problem. The Laplacian matrix is weighted by the distance among the vehicles, i.e., as closer a UAV is from another as higher the communication link is. Therefore, the communication graph, which characterizes the consensus navigation, is a dynamic one. Following, some simulation results are shown in order to illustrate the theoretical aspects, and also to validate the proposal. Finally, the analysis of the Laplacian matrix and the UAV communication during flight is also presented to determine the consensus meeting point.
{"title":"Consensus-based navigation of a UAV formation","authors":"Thais Bento da Silva, Matheus V. M. Souza e Silva, A. Brandão","doi":"10.1109/RED-UAS.2015.7441010","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441010","url":null,"abstract":"This work presents the development of a UAV cooperative strategy based on consensus navigation to solve the rendezvous problem. The Laplacian matrix is weighted by the distance among the vehicles, i.e., as closer a UAV is from another as higher the communication link is. Therefore, the communication graph, which characterizes the consensus navigation, is a dynamic one. Following, some simulation results are shown in order to illustrate the theoretical aspects, and also to validate the proposal. Finally, the analysis of the Laplacian matrix and the UAV communication during flight is also presented to determine the consensus meeting point.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130289320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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