Pub Date : 2015-11-01DOI: 10.1109/RED-UAS.2015.7440992
Shuting Zhou, G. Flores, Eric Bazán, R. Lozano, A. Rodriguez
This paper presents a novel strategy for object detection applied on a Quadrotor micro aerial vehicle (MAV) navigating in unknown urban environments. The Quadrotor is required to fly across a window and complete a transferring flight between an outdoor position to a final point inside a building. To achieve this goal, three main tasks must be accomplished; the first one involves the identification of the object of interest, in this case a window; the second task involves the pose estimation of the MAV w.r.t the window; and finally generating a trajectory needed to cross the window starting from a given initial point. To identify the window, a feature-based cascade classifier is implemented, which provides an extremely fast and robust method for window identification. We develop a safe path-planning method using the information provided by the GPS and the on-board inertial and stereo vision sensors. Therefore, the stereo vision system estimates the relative position w.r.t. the Quadrotor and offers egomotion estimation of the MAV for subsequent position control. Preliminary experimental results of the identification of the window and pose estimation is demonstrated through some video sequences collected from the experimental platform.
{"title":"Real-time object detection and pose estimation using stereo vision. An application for a Quadrotor MAV","authors":"Shuting Zhou, G. Flores, Eric Bazán, R. Lozano, A. Rodriguez","doi":"10.1109/RED-UAS.2015.7440992","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440992","url":null,"abstract":"This paper presents a novel strategy for object detection applied on a Quadrotor micro aerial vehicle (MAV) navigating in unknown urban environments. The Quadrotor is required to fly across a window and complete a transferring flight between an outdoor position to a final point inside a building. To achieve this goal, three main tasks must be accomplished; the first one involves the identification of the object of interest, in this case a window; the second task involves the pose estimation of the MAV w.r.t the window; and finally generating a trajectory needed to cross the window starting from a given initial point. To identify the window, a feature-based cascade classifier is implemented, which provides an extremely fast and robust method for window identification. We develop a safe path-planning method using the information provided by the GPS and the on-board inertial and stereo vision sensors. Therefore, the stereo vision system estimates the relative position w.r.t. the Quadrotor and offers egomotion estimation of the MAV for subsequent position control. Preliminary experimental results of the identification of the window and pose estimation is demonstrated through some video sequences collected from the experimental platform.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"49 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":"117340144","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.2015.7441037
C. Espinosa, Karina Mayen, Mariano I. Lizárraga, Sergio Romero, R. Lozano
This paper presents one method for stabilizing the line of sight of a two axes gimbal mechanical system. The equations of gimbal motion are derived using Newton-Euler approach and the stabilization loop is constructed based on Sliding Mode control theory. The dynamic and nonlinear uncertain disturbances on the performance of the stabilization control loop are investigated and the overall model is then simulated. Finally, the results and performance of the mechanical device together with designed stabilizer control loop are compared with an often used proportional plus integral control feedback compensator.
{"title":"Sliding mode line-of-sight stabilization of a two-axes gimbal system","authors":"C. Espinosa, Karina Mayen, Mariano I. Lizárraga, Sergio Romero, R. Lozano","doi":"10.1109/RED-UAS.2015.7441037","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441037","url":null,"abstract":"This paper presents one method for stabilizing the line of sight of a two axes gimbal mechanical system. The equations of gimbal motion are derived using Newton-Euler approach and the stabilization loop is constructed based on Sliding Mode control theory. The dynamic and nonlinear uncertain disturbances on the performance of the stabilization control loop are investigated and the overall model is then simulated. Finally, the results and performance of the mechanical device together with designed stabilizer control loop are compared with an often used proportional plus integral control feedback compensator.","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":"127405196","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.2015.7441035
A. Rodriguez-mata, R. López, A. Martinez-Vasquez, S. Salazar, A. Osório, Rogelio Lozano
An integral robust observer with rejection control disturbance is proposed in this paper. The design of the observer is performed employing the canonical obervable model of the original non-linear system, obtained by a change of coordinates. A practical stability is proved using the Lyapunov approach with using a high gain to maintain the solution in a convergence ball. Several simulations cases are carried out to illustrate the performance of the closed-loop system in a disturbance wind prepense. In other cases, noise in the states are added to emulate a real system.
{"title":"Robust control with disturbance observer for UAV translational tracking","authors":"A. Rodriguez-mata, R. López, A. Martinez-Vasquez, S. Salazar, A. Osório, Rogelio Lozano","doi":"10.1109/RED-UAS.2015.7441035","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441035","url":null,"abstract":"An integral robust observer with rejection control disturbance is proposed in this paper. The design of the observer is performed employing the canonical obervable model of the original non-linear system, obtained by a change of coordinates. A practical stability is proved using the Lyapunov approach with using a high gain to maintain the solution in a convergence ball. Several simulations cases are carried out to illustrate the performance of the closed-loop system in a disturbance wind prepense. In other cases, noise in the states are added to emulate a real system.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"65 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":"124073772","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.2015.7441013
J. Martínez-Carranza, Nils Loewen, Francisco Marquez, Esteban O. Garcia, W. Mayol-Cuevas
In the last couple of years a novel visual simultaneous localisation and mapping (SLAM) system, based on visual features, has emerged as one of the best, if not the best, systems for estimating the 6D camera pose whilst building a 3D map of the observed scene. This method is called ORB-SLAM and one of its key ideas is to use the same visual descriptor, a binary descriptor called ORB, for all the visual tasks, this is, for feature matching, relocalisation and loop closure. On the top of this, ORB-SLAM combines local and graph-based global bundle adjustment, which enables a scalable map generation whilst keeping real-time performance. Therefore, motivated by its performance in terms of processing speed, robustness against erratic motion and scalability, in this paper we present an implementation of autonomous flight for a low-cost micro aerial vehicle (MAV), where ORB-SLAM is used as a visual positioning system that feeds a PD controller that controls pitch, roll and yaw. Our results indicate that our implementation has potential and could soon be implemented on a bigger aerial platform with more complex trajectories to be flown autonomously.
{"title":"Towards autonomous flight of micro aerial vehicles using ORB-SLAM","authors":"J. Martínez-Carranza, Nils Loewen, Francisco Marquez, Esteban O. Garcia, W. Mayol-Cuevas","doi":"10.1109/RED-UAS.2015.7441013","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441013","url":null,"abstract":"In the last couple of years a novel visual simultaneous localisation and mapping (SLAM) system, based on visual features, has emerged as one of the best, if not the best, systems for estimating the 6D camera pose whilst building a 3D map of the observed scene. This method is called ORB-SLAM and one of its key ideas is to use the same visual descriptor, a binary descriptor called ORB, for all the visual tasks, this is, for feature matching, relocalisation and loop closure. On the top of this, ORB-SLAM combines local and graph-based global bundle adjustment, which enables a scalable map generation whilst keeping real-time performance. Therefore, motivated by its performance in terms of processing speed, robustness against erratic motion and scalability, in this paper we present an implementation of autonomous flight for a low-cost micro aerial vehicle (MAV), where ORB-SLAM is used as a visual positioning system that feeds a PD controller that controls pitch, roll and yaw. Our results indicate that our implementation has potential and could soon be implemented on a bigger aerial platform with more complex trajectories to be flown autonomously.","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":"128165581","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.2015.7441028
M. Laiacker, Sven Wlach, Marc Schwarzbach
In this paper the autopilot setup and the lessons learned from a successful balloon launched high altitude glider mission will be presented. Flying an unmanned aerial vehicle inside the stratosphere means operating it outside visual line of sight, in low pressures and cold temperatures. These environmental conditions pose many challenges to the UAV aerodynamic design, the autopilot system and the ground infrastructure. In May 2015 the HABLEG airplane was carried up to an altitude of 20km by a balloon. When the target altitude was reached it automatically transitioned to horizontal flight and landed back at the landing site where the balloon was released 145 minutes earlier. We will present and analyzed flight test result from every phase of the mission and summarize the lessons learned.
{"title":"DLR high altitude balloon launched experimental glider (HABLEG): System design, control and flight data analysis","authors":"M. Laiacker, Sven Wlach, Marc Schwarzbach","doi":"10.1109/RED-UAS.2015.7441028","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441028","url":null,"abstract":"In this paper the autopilot setup and the lessons learned from a successful balloon launched high altitude glider mission will be presented. Flying an unmanned aerial vehicle inside the stratosphere means operating it outside visual line of sight, in low pressures and cold temperatures. These environmental conditions pose many challenges to the UAV aerodynamic design, the autopilot system and the ground infrastructure. In May 2015 the HABLEG airplane was carried up to an altitude of 20km by a balloon. When the target altitude was reached it automatically transitioned to horizontal flight and landed back at the landing site where the balloon was released 145 minutes earlier. We will present and analyzed flight test result from every phase of the mission and summarize the lessons learned.","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":"114622454","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.2015.7440987
G. Ortega, F. Muñoz, E. S. Espinoza Quesada, Luis R. Garcia, P. Ordaz
In this paper, we consider the tracking problem for leader-follower multi-agent systems under a linear consensus protocol. Our main goal is to study the real-time behavior of the algorithm when applied to a group of four holonomic Unmanned Aircraft Systems (UAS). A comprehensive analysis of the linear consensus protocol theory is presented. In our approach, the linear model of the agents are obtained by using the step response methodology, then, the models are approximated to a standard second-order model representation. The leader-follower consensus algorithm is designed and implemented for the heading and the altitude dynamics of the group of UAS. In order to prove the effectiveness of the proposed consensus algorithm we have implemented it both in simulation as well as in real-time experiments. Our work concludes with future directions of our research, which will address the issues found during the real-time tests.
{"title":"Implementation of leader-follower linear consensus algorithm for coordination of multiple aircrafts","authors":"G. Ortega, F. Muñoz, E. S. Espinoza Quesada, Luis R. Garcia, P. Ordaz","doi":"10.1109/RED-UAS.2015.7440987","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440987","url":null,"abstract":"In this paper, we consider the tracking problem for leader-follower multi-agent systems under a linear consensus protocol. Our main goal is to study the real-time behavior of the algorithm when applied to a group of four holonomic Unmanned Aircraft Systems (UAS). A comprehensive analysis of the linear consensus protocol theory is presented. In our approach, the linear model of the agents are obtained by using the step response methodology, then, the models are approximated to a standard second-order model representation. The leader-follower consensus algorithm is designed and implemented for the heading and the altitude dynamics of the group of UAS. In order to prove the effectiveness of the proposed consensus algorithm we have implemented it both in simulation as well as in real-time experiments. Our work concludes with future directions of our research, which will address the issues found during the real-time tests.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"80 3 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":"129846767","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.2015.7441003
J. Guerrero-Castellanos, V. Gonzalez-Diaz, A. Vega-Alonzo, G. Mino-Aguilar, M. López-López, W. F. Guerrero-Sánchez, S. E. Maya-Rueda
This paper presents the development of a quaternion-based nonlinear control for the attitude stabilization of VTOL-UAVs. Firstly, it is proved the existence of a Control Lyapunov Function (CLF). Unlike some previously proposed schemes, the aim of this paper is to propose an optimal control using the relationship between Sontag's Formula and optimal control problem. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter.
{"title":"CLF based design for attitude control of VTOL-UAVs: An inverse optimal control approach","authors":"J. Guerrero-Castellanos, V. Gonzalez-Diaz, A. Vega-Alonzo, G. Mino-Aguilar, M. López-López, W. F. Guerrero-Sánchez, S. E. Maya-Rueda","doi":"10.1109/RED-UAS.2015.7441003","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441003","url":null,"abstract":"This paper presents the development of a quaternion-based nonlinear control for the attitude stabilization of VTOL-UAVs. Firstly, it is proved the existence of a Control Lyapunov Function (CLF). Unlike some previously proposed schemes, the aim of this paper is to propose an optimal control using the relationship between Sontag's Formula and optimal control problem. The control law ensures the asymptotic stability of the closed-loop system to the desired attitude. The approach is validated in real-time using a quadrotor mini-helicopter.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"163 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":"134442270","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.2015.7440998
C. Coopmans, Michal Podhradský, Nathan Hoffer
Unmanned aerial system (UAS) use is ever-increasing. In this paper, it is shown that even with low-cost hardware and open-source software, simple numerical testing practices (software- and hardware-in-the-loop) can prove the accuracy and usefulness of an aeronautical flight model, as well as provide valuable pre-flight testing of many situations typically only encountered in flight: high winds, hardware failure, etc. Software and hardware simulation results are compared with actual flight testing results to show that these modeling and testing techniques are accurate and provide a useful testing platform for a small unmanned aerial vehicle. Source code used in simulation is open and provided to the community.
{"title":"Software- and hardware-in-the-loop verification of flight dynamics model and flight control simulation of a fixed-wing unmanned aerial vehicle","authors":"C. Coopmans, Michal Podhradský, Nathan Hoffer","doi":"10.1109/RED-UAS.2015.7440998","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440998","url":null,"abstract":"Unmanned aerial system (UAS) use is ever-increasing. In this paper, it is shown that even with low-cost hardware and open-source software, simple numerical testing practices (software- and hardware-in-the-loop) can prove the accuracy and usefulness of an aeronautical flight model, as well as provide valuable pre-flight testing of many situations typically only encountered in flight: high winds, hardware failure, etc. Software and hardware simulation results are compared with actual flight testing results to show that these modeling and testing techniques are accurate and provide a useful testing platform for a small unmanned aerial vehicle. Source code used in simulation is open and provided to the community.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"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":"117265399","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.2015.7441027
A. Foina, R. Sengupta, Patrick Lerchi, Zhilong Liu, Clemens Krainer
Within the last decade, the recent automation of vehicles such as cars and planes promise to fundamentally alter the microeconomics of transporting people and goods. In this paper, we focus on the self-flying planes (drones), which have been renamed Unmanned Aerial System (UAS) by the US Federal Aviation Agency (FAA). The most controversial operations envisaged by the UAS industry are small, low-altitude UAS flights in densely populated cities - robotic aircraft flying in the midst of public spaces to deliver goods and information. This subset of robotic flight would be the most valuable to the nation's economy, but we argue that it cannot happen without a new generation of air traffic control and management services. This paper presents a cloud based system for city-wide unmanned air traffic management, prototype sensor systems required by city police to keep the city safe, and an analysis of control systems for collision avoidance.
{"title":"Drones in smart cities: Overcoming barriers through air traffic control research","authors":"A. Foina, R. Sengupta, Patrick Lerchi, Zhilong Liu, Clemens Krainer","doi":"10.1109/RED-UAS.2015.7441027","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7441027","url":null,"abstract":"Within the last decade, the recent automation of vehicles such as cars and planes promise to fundamentally alter the microeconomics of transporting people and goods. In this paper, we focus on the self-flying planes (drones), which have been renamed Unmanned Aerial System (UAS) by the US Federal Aviation Agency (FAA). The most controversial operations envisaged by the UAS industry are small, low-altitude UAS flights in densely populated cities - robotic aircraft flying in the midst of public spaces to deliver goods and information. This subset of robotic flight would be the most valuable to the nation's economy, but we argue that it cannot happen without a new generation of air traffic control and management services. This paper presents a cloud based system for city-wide unmanned air traffic management, prototype sensor systems required by city police to keep the city safe, and an analysis of control systems for collision avoidance.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"96 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":"132251036","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.2015.7440995
Jesús Martín, Hania Angelina, G. Heredia, A. Ollero
Increasing flight endurance of Unmanned Aerial Vehicles (UAVs) is a main issue for many applications of these aircrafts. This paper deals with air to air refueling between UAVs. Relative estimation using only INS/GPS system is not sufficiently accurate to accomplish an autonomous dock for aerial refueling. In this paper we propose a relative state estimator to fuse GPS and INS sensor data of each UAV with vision pose estimation of the receiver obtained from the tanker and serves as an introduction to fault detection in autonomous aerial refueling comparing vision and INS measurements. Simulated results validate the fault detection indicator and are the starting point for ground and flight tests in the next months.
{"title":"Fault detection for autonomous aerial refueling","authors":"Jesús Martín, Hania Angelina, G. Heredia, A. Ollero","doi":"10.1109/RED-UAS.2015.7440995","DOIUrl":"https://doi.org/10.1109/RED-UAS.2015.7440995","url":null,"abstract":"Increasing flight endurance of Unmanned Aerial Vehicles (UAVs) is a main issue for many applications of these aircrafts. This paper deals with air to air refueling between UAVs. Relative estimation using only INS/GPS system is not sufficiently accurate to accomplish an autonomous dock for aerial refueling. In this paper we propose a relative state estimator to fuse GPS and INS sensor data of each UAV with vision pose estimation of the receiver obtained from the tanker and serves as an introduction to fault detection in autonomous aerial refueling comparing vision and INS measurements. Simulated results validate the fault detection indicator and are the starting point for ground and flight tests in the next months.","PeriodicalId":317787,"journal":{"name":"2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"47 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":"132553709","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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