Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7441000
R. Ragel, I. Maza, F. Caballero, A. Ollero
This paper presents a comparison between different motion planning algorithms for a multi-rotor UAS equipped with a multi-joint robotic arm. This type of platform is considered in the ARCAS European Project for the assembly of a structure by using a team of aerial robots equipped with on-board manipulators. The practical interest of this system can be found in situations where it is required to build a structure in places with difficult access by conventional means. This work explains the simulation framework developed and the results obtained with different motion planning methods within this framework.
{"title":"Comparison of motion planning techniques for a multi-rotor UAS equipped with a multi-joint manipulator Arm","authors":"R. Ragel, I. Maza, F. Caballero, A. Ollero","doi":"10.1109/RED-UAS.2015.7441000","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441000","url":null,"abstract":"This paper presents a comparison between different motion planning algorithms for a multi-rotor UAS equipped with a multi-joint robotic arm. This type of platform is considered in the ARCAS European Project for the assembly of a structure by using a team of aerial robots equipped with on-board manipulators. The practical interest of this system can be found in situations where it is required to build a structure in places with difficult access by conventional means. This work explains the simulation framework developed and the results obtained with different motion planning methods within this framework.","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":"132279059","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.2015.7441009
M. Trujillo, Kristin Duling, Marjorie Darrah, Edgar Fuller, Mitchell Wathen
Various methods have been utilized for the cooperative tasking of unmanned aerial vehicles (UAVs), with the genetic algorithm (GA) being a technique that has proven to be versatile and effective for this use. The design and implementation of a GA is both an art and a science that brings together creativity, theoretical foundations and engineering. The focus of this paper is to show how the fitness function for a GA has been improved to meet variable mission constraints and also improve performance of the system designed to provide support for a ground station to fly cooperative missions with teams of small UAVs.
{"title":"Fitness function changes to improve performance in a GA used for multi-UAV tasking","authors":"M. Trujillo, Kristin Duling, Marjorie Darrah, Edgar Fuller, Mitchell Wathen","doi":"10.1109/RED-UAS.2015.7441009","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441009","url":null,"abstract":"Various methods have been utilized for the cooperative tasking of unmanned aerial vehicles (UAVs), with the genetic algorithm (GA) being a technique that has proven to be versatile and effective for this use. The design and implementation of a GA is both an art and a science that brings together creativity, theoretical foundations and engineering. The focus of this paper is to show how the fitness function for a GA has been improved to meet variable mission constraints and also improve performance of the system designed to provide support for a ground station to fly cooperative missions with teams of small UAVs.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"5 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":"124898685","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.2015.7441026
A. Zolich, T. Johansen, Krzysztof Cisek, Kristian Klausen
The growing interest in Unmanned Aerial Systems (UAS) research, alongside with increasingly affordable hardware, creates great opportunity for research facilities to compare algorithms and simulation results with applied in-flight performance. However, developing the necessary equipment for such endeavour requires significant effort, often beyond available resources and the main research focus. As a solution, a system architecture for enabling advanced experiments is presented, allowing researchers to reduce the amount of required effort in developing a UAS. The proposed architecture is compatible with current state-of-the-art research facilities and standards, promoting an increased cooperation between experts in the field. The capabilities of the presented setup have evolved and been verified during intensive field experiments over the past two years, considering various algorithms and distinct equipment. This paper provides a detailed description of both the architecture and implementation details, such as the used hardware and software, being therefore a potential reference for the research community and for facilities planning the development of their own UAS.
{"title":"Unmanned aerial system architecture for maritime missions. design & hardware description","authors":"A. Zolich, T. Johansen, Krzysztof Cisek, Kristian Klausen","doi":"10.1109/RED-UAS.2015.7441026","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441026","url":null,"abstract":"The growing interest in Unmanned Aerial Systems (UAS) research, alongside with increasingly affordable hardware, creates great opportunity for research facilities to compare algorithms and simulation results with applied in-flight performance. However, developing the necessary equipment for such endeavour requires significant effort, often beyond available resources and the main research focus. As a solution, a system architecture for enabling advanced experiments is presented, allowing researchers to reduce the amount of required effort in developing a UAS. The proposed architecture is compatible with current state-of-the-art research facilities and standards, promoting an increased cooperation between experts in the field. The capabilities of the presented setup have evolved and been verified during intensive field experiments over the past two years, considering various algorithms and distinct equipment. This paper provides a detailed description of both the architecture and implementation details, such as the used hardware and software, being therefore a potential reference for the research community and for facilities planning the development of their own UAS.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"90 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":"122597938","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.2015.7441030
A. Belbachir, J. Escareño, E. Rubio, H. Sossa
Efficient localization of forest-fires based Unmanned Aerial Vehicles (UAVs) represents valuable assessment. Due to the fast deployment of UAVs, it is practical to use them. For forest fire detection purposes, usually the area to explore is unknown, thus existing strategies use an automatic coverage exploration strategy. However, such approach is not efficient in terms of exploration time since the mission execution and achievement in an unknown environment that needs a strong vehicle decision and control. Based on this observation, we improved the localization mission by a decision-based strategy resulting from a probabilistic model based on the temperature in order to estimate the distance towards the forest-fire. The UAV optimizes its trajectory according to the state of the forest-fire knowledge by using a map to represent its knowledge and updates it at each step of its exploration. We show in this paper that our planning and control methodology for forest-fire localization is efficient. Simulation results are carried out to evaluate the proposed methodology and approves our claim.
{"title":"Preliminary results on UAV-based forest fire localization based on decisional navigation","authors":"A. Belbachir, J. Escareño, E. Rubio, H. Sossa","doi":"10.1109/RED-UAS.2015.7441030","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441030","url":null,"abstract":"Efficient localization of forest-fires based Unmanned Aerial Vehicles (UAVs) represents valuable assessment. Due to the fast deployment of UAVs, it is practical to use them. For forest fire detection purposes, usually the area to explore is unknown, thus existing strategies use an automatic coverage exploration strategy. However, such approach is not efficient in terms of exploration time since the mission execution and achievement in an unknown environment that needs a strong vehicle decision and control. Based on this observation, we improved the localization mission by a decision-based strategy resulting from a probabilistic model based on the temperature in order to estimate the distance towards the forest-fire. The UAV optimizes its trajectory according to the state of the forest-fire knowledge by using a map to represent its knowledge and updates it at each step of its exploration. We show in this paper that our planning and control methodology for forest-fire localization is efficient. Simulation results are carried out to evaluate the proposed methodology and approves our claim.","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":"131890219","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.2015.7440985
Z. Hou, I. Fantoni
This paper presents a distributed saturated formation control for a multiple quadrotors (UAVs) system with leader-follower structure. Each UAV has local and limited neighbors. Stability analysis for the multi-UAV system with fixed and switching topology is given, using the theories of convex hull and perturbed matrix. Simulation results show that the quadrotors with the proposed strategy can achieve consensus in presence of changeable leaders with switching topology. The real-time experiment shows that the quadrotors can track the desired formation trajectory by using the proposed formation strategy.
{"title":"Leader-follower formation saturated control for multiple quadrotors with switching topology","authors":"Z. Hou, I. Fantoni","doi":"10.1109/RED-UAS.2015.7440985","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440985","url":null,"abstract":"This paper presents a distributed saturated formation control for a multiple quadrotors (UAVs) system with leader-follower structure. Each UAV has local and limited neighbors. Stability analysis for the multi-UAV system with fixed and switching topology is given, using the theories of convex hull and perturbed matrix. Simulation results show that the quadrotors with the proposed strategy can achieve consensus in presence of changeable leaders with switching topology. The real-time experiment shows that the quadrotors can track the desired formation trajectory by using the proposed formation strategy.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"73 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":"115916147","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.2015.7440988
Nguyen Dang Hao, Boutayeb Mohamed, H. Rafaralahy
This paper presents a constructive design of an adaptive formation controller for leader-follower quadrotors in three dimensional space. An attitude extraction algorithm which uses the conversion between quaternions and Euler angles is employed to generate the thrust and reference unit-quaternion of the translational subsystem. The attitude extraction algorithm is used as a coordinate transformation thus the dynamics of the formation is separated into two subsystems that the control design technique can be directly applied. The formation controller also uses a collision avoidance function constructing from a smooth step function. The uncertainty and disturbance are eliminated by estimation update laws. Simulations illustrate the results.
{"title":"Adaptive control for leader-follower formation of quadrotors","authors":"Nguyen Dang Hao, Boutayeb Mohamed, H. Rafaralahy","doi":"10.1109/RED-UAS.2015.7440988","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440988","url":null,"abstract":"This paper presents a constructive design of an adaptive formation controller for leader-follower quadrotors in three dimensional space. An attitude extraction algorithm which uses the conversion between quaternions and Euler angles is employed to generate the thrust and reference unit-quaternion of the translational subsystem. The attitude extraction algorithm is used as a coordinate transformation thus the dynamics of the formation is separated into two subsystems that the control design technique can be directly applied. The formation controller also uses a collision avoidance function constructing from a smooth step function. The uncertainty and disturbance are eliminated by estimation update laws. Simulations illustrate the results.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"282 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":"115331045","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.2015.7441023
F. Muñoz, I. González-Hernández, E. S. Espinoza, S. Salazar, A. Osório
In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used to measure the altitude (Barometer and GPS) do not provide the altitude velocity. The proposed strategy was designed by using a Super-Twisting controller based on a High Order Sliding Mode Observer. A comprehensive stability analysis based on the Lyapunov Stability Theory guarantees the convergence of the tracking error in finite time. To demonstrate the performance of the proposed solution, a set of simulation results are presented.
{"title":"Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer","authors":"F. Muñoz, I. González-Hernández, E. S. Espinoza, S. Salazar, A. Osório","doi":"10.1109/RED-UAS.2015.7441023","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441023","url":null,"abstract":"In this paper, the altitude tracking problem for an Unmanned Aircraft System (UAS) is considered under the assumption that the altitud velocity is unknown. Since in a practical implementation the employed sensors used to measure the altitude (Barometer and GPS) do not provide the altitude velocity. The proposed strategy was designed by using a Super-Twisting controller based on a High Order Sliding Mode Observer. A comprehensive stability analysis based on the Lyapunov Stability Theory guarantees the convergence of the tracking error in finite time. To demonstrate the performance of the proposed solution, a set of simulation results are presented.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"78 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":"128301721","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.2015.7441018
J. Mendoza-Mendoza, G. Sepúlveda-Cervantes, C. Aguilar-Ibáñez, Mauricio Mendez, Marco Reyes-Larios, P. Matabuena, Juan Gonzalez-Avila
We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.
{"title":"Air-arm: A new kind of flying manipulator","authors":"J. Mendoza-Mendoza, G. Sepúlveda-Cervantes, C. Aguilar-Ibáñez, Mauricio Mendez, Marco Reyes-Larios, P. Matabuena, Juan Gonzalez-Avila","doi":"10.1109/RED-UAS.2015.7441018","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441018","url":null,"abstract":"We introduce a new kind of aerial manipulator based on multirotors. This device exploits the rarely used yaw movement which characterizes these aircrafts in order to generate and transmit forces and displacements trough a serial-chain of rigid links and other drones, as if the whole system was a flying robot arm with UAVS as rotational joints. Also we provide comparisons with the existing technologies and a condensed review concerning them. Finally, this paper proposes many open problems in order to develop the final system. Due to the scientific and social impact of this new approach, we provide some application examples.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"27 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":"127874149","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.2015.7441025
J. J. Ruiz, M. A. Escalera, A. Viguria, A. Ollero
The purpose of the present paper is to determine whether the use of advanced Human-Machine Interfaces (HMI) could improve the Situation Awareness (SA) of the safety pilot in an UAV operation. Despite the tendency to develop more autonomous vehicles, the presence of a safety pilot will continue to be important particularly in complex situations, instances of system failures or automation bias. This research considers that the pilot is physically located in the field and needs to be informed about the UAV status and mission progress. A simulation environment with three different scenarios is proposed. The scenarios include a radio link interface, a tablet interface and a vision through Head-Mounted Display (HMD). In order to evaluate each solution, NASA-TLX and SAGAT questionnaires were used. Finally, results showed better performance and reduced workload in the HMD in comparison with other approaches.
{"title":"A simulation framework to validate the use of head-mounted displays and tablets for information exchange with the UAV safety pilot","authors":"J. J. Ruiz, M. A. Escalera, A. Viguria, A. Ollero","doi":"10.1109/RED-UAS.2015.7441025","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441025","url":null,"abstract":"The purpose of the present paper is to determine whether the use of advanced Human-Machine Interfaces (HMI) could improve the Situation Awareness (SA) of the safety pilot in an UAV operation. Despite the tendency to develop more autonomous vehicles, the presence of a safety pilot will continue to be important particularly in complex situations, instances of system failures or automation bias. This research considers that the pilot is physically located in the field and needs to be informed about the UAV status and mission progress. A simulation environment with three different scenarios is proposed. The scenarios include a radio link interface, a tablet interface and a vision through Head-Mounted Display (HMD). In order to evaluate each solution, NASA-TLX and SAGAT questionnaires were used. Finally, results showed better performance and reduced workload in the HMD in comparison with other approaches.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"8 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":"128090942","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.2015.7440993
Karina Mayen, C. Espinoza, H. Romero, S. Salazar, Mariano I. Lizárraga, R. Lozano
In this paper, we proposed a video stabilization algorithm based on an efficient block matching on the airplane using Kalman Filtering. This algorithm uses the bit-planes to estimate and compensate the translational motion; while to compensate the rotation motion vector experienced in the video sequences we use the four local estimation approach to compute the rotational resultant vector. The global motion vectors of image frames are accumulated to obtain global displacement vectors, then they are filtered using the Kalman theory to get a vision stabilized system.
{"title":"Real-time video stabilization algorithm based on efficient block matching for UAVs","authors":"Karina Mayen, C. Espinoza, H. Romero, S. Salazar, Mariano I. Lizárraga, R. Lozano","doi":"10.1109/RED-UAS.2015.7440993","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440993","url":null,"abstract":"In this paper, we proposed a video stabilization algorithm based on an efficient block matching on the airplane using Kalman Filtering. This algorithm uses the bit-planes to estimate and compensate the translational motion; while to compensate the rotation motion vector experienced in the video sequences we use the four local estimation approach to compute the rotational resultant vector. The global motion vectors of image frames are accumulated to obtain global displacement vectors, then they are filtered using the Kalman theory to get a vision stabilized system.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"29 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":"134072779","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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