Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156426
Mike Allenspach, Till Kötter, Rik Bähnemann, M. Tognon, R. Siegwart
Omnidirectional aerial vehicles are an attractive solution for visual inspection tasks that require observations from different views. However, the decisional autonomy of modern robots is limited. Therefore, human input is often necessary to safely explore complex industrial environments. Existing teleoperation tools rely on on-board camera views or 3D renderings of the environment to improve situational awareness. Mixed-Reality (MR) offers an exciting alternative, allowing the user to perceive and control the robot’s motion in the physical world. Furthermore, since MR technology is not limited by the hardware constraints of standard teleoperation interfaces, like haptic devices or joysticks, it allows us to explore new reference generation and user feedback methodologies. In this work, we investigate the potential of MR in teleoperating 6DoF aerial robots by designing a holographic user interface (see Fig. 1) to control their translational velocity and orientation. A user study with 13 participants is performed to assess the proposed approach. The evaluation confirms the effectiveness and intuitiveness of our methodology, independent of prior user experience with aerial vehicles or MR. However, prior familiarity with MR improves task completion time. The results also highlight limitation to line-of-sight operation at distances where relevant details in the physical environment can still be visually distinguished.
{"title":"Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles","authors":"Mike Allenspach, Till Kötter, Rik Bähnemann, M. Tognon, R. Siegwart","doi":"10.1109/ICUAS57906.2023.10156426","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156426","url":null,"abstract":"Omnidirectional aerial vehicles are an attractive solution for visual inspection tasks that require observations from different views. However, the decisional autonomy of modern robots is limited. Therefore, human input is often necessary to safely explore complex industrial environments. Existing teleoperation tools rely on on-board camera views or 3D renderings of the environment to improve situational awareness. Mixed-Reality (MR) offers an exciting alternative, allowing the user to perceive and control the robot’s motion in the physical world. Furthermore, since MR technology is not limited by the hardware constraints of standard teleoperation interfaces, like haptic devices or joysticks, it allows us to explore new reference generation and user feedback methodologies. In this work, we investigate the potential of MR in teleoperating 6DoF aerial robots by designing a holographic user interface (see Fig. 1) to control their translational velocity and orientation. A user study with 13 participants is performed to assess the proposed approach. The evaluation confirms the effectiveness and intuitiveness of our methodology, independent of prior user experience with aerial vehicles or MR. However, prior familiarity with MR improves task completion time. The results also highlight limitation to line-of-sight operation at distances where relevant details in the physical environment can still be visually distinguished.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117130564","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156624
Marek Kołodziejczak, Radosław Puchalski, Adam Bondyra, S. Sladic, Wojciech Giernacki
Data-driven Fault Detection and Isolation (FDI) systems receive a lot of attention from researchers. Several recent applications utilize acoustic signals recorded on-board of the Unmanned Aerial Vehicle (UAV) to assess the condition of propulsion system and diagnose rotor blade impairments. In this work, we propose two major improvements to the previously developed FDI scheme. They are aimed at reducing the computational load of the deep LSTM-based (Long ShortTerm Memory) fault classifier. First, the PCA-based (Principal Component Analysis) feature space reduction allows reducing the size of neural networks and thus decreasing the number of mathematical operations. Secondly, a modified algorithm introduces an ensemble of multiple weak classifiers with a decision-fusion strategy that provides the final status of the system. The developed schemes were evaluated in comparison to the original algorithm, using an extensive dataset of real-flight acoustic data. The results show that the proposed improvements significantly reduce the computation time within the assumed performance constraints.
{"title":"Toward lightweight acoustic fault detection and identification of UAV rotors","authors":"Marek Kołodziejczak, Radosław Puchalski, Adam Bondyra, S. Sladic, Wojciech Giernacki","doi":"10.1109/ICUAS57906.2023.10156624","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156624","url":null,"abstract":"Data-driven Fault Detection and Isolation (FDI) systems receive a lot of attention from researchers. Several recent applications utilize acoustic signals recorded on-board of the Unmanned Aerial Vehicle (UAV) to assess the condition of propulsion system and diagnose rotor blade impairments. In this work, we propose two major improvements to the previously developed FDI scheme. They are aimed at reducing the computational load of the deep LSTM-based (Long ShortTerm Memory) fault classifier. First, the PCA-based (Principal Component Analysis) feature space reduction allows reducing the size of neural networks and thus decreasing the number of mathematical operations. Secondly, a modified algorithm introduces an ensemble of multiple weak classifiers with a decision-fusion strategy that provides the final status of the system. The developed schemes were evaluated in comparison to the original algorithm, using an extensive dataset of real-flight acoustic data. The results show that the proposed improvements significantly reduce the computation time within the assumed performance constraints.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"73 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127201745","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156120
Dillon Miller, Violet Mwaffo, Donald H. Costello
In an effort to modernize the fleet, the United States Navy is looking to significantly increase the number of unmanned aircraft deployed within a carrier air wing. Yet, no method to certify the autonomous refueling of uncrewed aerial platforms has been publicly released. Ongoing research efforts at the United States Naval Academy (USNA) are investigating certification evidence that will allow a deep neural network (DNN) to enable the autonomous aerial refueling task. This poster paper highlights an investigation into developmental flight test videos of an aircraft refueling from a KC-130 tanker and from a tanker configured F/A-18 jet. In this paper, we evaluate a KC-130 trained DNN and a F/A-18 trained DNN against a F/A-18 data set that was not used in training either DNN. This procedure was aimed at determining whether the resources required to gather training data on each tanker aircraft taken separately are justified or if the performance of the DNN trained on a similar aircraft dataset is sufficient for the task.
为了实现舰队的现代化，美国海军正在寻求大幅增加航母舰载机联队部署的无人机数量。然而，目前还没有公开发布验证无人空中平台自主加油的方法。美国海军学院(USNA)正在进行的研究工作正在调查将允许深度神经网络(DNN)实现自主空中加油任务的认证证据。这张海报强调了对一架飞机从KC-130加油机和一架加油机配置的F/ a -18喷气式飞机加油的发展飞行测试视频的调查。在本文中，我们针对未用于训练DNN的F/ a -18数据集评估了KC-130训练的DNN和F/ a -18训练的DNN。该程序旨在确定在每架加油机上单独收集训练数据所需的资源是否合理，或者在类似飞机数据集上训练的DNN的性能是否足以完成任务。
{"title":"Comparing DNN Performance to Justify Using Transference of Training for the Autonomous Aerial Refueling Task","authors":"Dillon Miller, Violet Mwaffo, Donald H. Costello","doi":"10.1109/ICUAS57906.2023.10156120","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156120","url":null,"abstract":"In an effort to modernize the fleet, the United States Navy is looking to significantly increase the number of unmanned aircraft deployed within a carrier air wing. Yet, no method to certify the autonomous refueling of uncrewed aerial platforms has been publicly released. Ongoing research efforts at the United States Naval Academy (USNA) are investigating certification evidence that will allow a deep neural network (DNN) to enable the autonomous aerial refueling task. This poster paper highlights an investigation into developmental flight test videos of an aircraft refueling from a KC-130 tanker and from a tanker configured F/A-18 jet. In this paper, we evaluate a KC-130 trained DNN and a F/A-18 trained DNN against a F/A-18 data set that was not used in training either DNN. This procedure was aimed at determining whether the resources required to gather training data on each tanker aircraft taken separately are justified or if the performance of the DNN trained on a similar aircraft dataset is sufficient for the task.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127369047","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156577
Dimitris Chaikalis, N. Evangeliou, Muhammed Nabeel, Nikolaos Giakoumidis, A. Tzes
This article describes the development of a hybrid autonomous vehicle capable of flying and navigating on ground terrain and water surface. This is achieved by combination of a typical coaxial tricopter with a flotation device, coupled with omniwheels and water propellers. The mechatronic design is presented, starting with the hardware component description, the supervisory control architecture and the redesign based on the hardware-in-the-loop simulation. The water-resistant autonomous vehicle uses one autopilot copter-component and another one for the vehicle/vessel. The supervising computer switches between these autopilots depending on the needed mode of operation using alterations in the firmware in designing the control effort. Simulation and experimental studies are offered to highlight the efficiency of the developed system.
{"title":"Mechatronic Design and Control of a Hybrid Ground-Air-Water Autonomous Vehicle","authors":"Dimitris Chaikalis, N. Evangeliou, Muhammed Nabeel, Nikolaos Giakoumidis, A. Tzes","doi":"10.1109/ICUAS57906.2023.10156577","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156577","url":null,"abstract":"This article describes the development of a hybrid autonomous vehicle capable of flying and navigating on ground terrain and water surface. This is achieved by combination of a typical coaxial tricopter with a flotation device, coupled with omniwheels and water propellers. The mechatronic design is presented, starting with the hardware component description, the supervisory control architecture and the redesign based on the hardware-in-the-loop simulation. The water-resistant autonomous vehicle uses one autopilot copter-component and another one for the vehicle/vessel. The supervising computer switches between these autopilots depending on the needed mode of operation using alterations in the firmware in designing the control effort. Simulation and experimental studies are offered to highlight the efficiency of the developed system.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123532555","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156190
Riccardo Franceschini, Matteo Fumagalli, J. Becerra
Recent developments in the capabilities of unmanned aerial vehicles (UAVs) have made them suitable for use in various industrial settings. Their ability to access difficult and remote locations, as well as providing remote manipulation and visual inspection capabilities, make them valuable for various industrial applications. However, operating UAVs can be challenging, particularly in cluttered environments. This research aims to enhance the teleoperation experience by providing human-meaningful information on the remote user interface, thereby improving the operator’s situational awareness. Shared autonomy routines utilizing the previously collected information are also developed to further assist the operator with challenging control tasks. The proposed system has been tested in simulated environments and on actual hardware.
{"title":"Enhancing Human-Drone Interaction with Human-Meaningful Visual Feedback and Shared-Control Strategies","authors":"Riccardo Franceschini, Matteo Fumagalli, J. Becerra","doi":"10.1109/ICUAS57906.2023.10156190","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156190","url":null,"abstract":"Recent developments in the capabilities of unmanned aerial vehicles (UAVs) have made them suitable for use in various industrial settings. Their ability to access difficult and remote locations, as well as providing remote manipulation and visual inspection capabilities, make them valuable for various industrial applications. However, operating UAVs can be challenging, particularly in cluttered environments. This research aims to enhance the teleoperation experience by providing human-meaningful information on the remote user interface, thereby improving the operator’s situational awareness. Shared autonomy routines utilizing the previously collected information are also developed to further assist the operator with challenging control tasks. The proposed system has been tested in simulated environments and on actual hardware.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115511089","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156359
Luca von Roenn, Tobias Grebner, A. Fay
Since January 26, 2023, the Commission Implementing Regulation (EU) 2021/664 applies in the European Union, with the help of which a legal basis has been created for the first time for the integration of the steadily increasing UAS traffic into the existing airspace via a so-called U-space. As the success of this approach stands and falls with acceptance by the public, it is essential that safe solutions are created. Therefore, UAS operators are now legally required to submit a UAS flight authorization request with the intended 4D trajectory prior to their flight and only if no spatial and temporal overlaps are detected, for example with other flight plans or no-fly zones, UAS operations may take place in U-space airspace. To this end, this paper presents a concept for legally compliant conflict detection that addresses both newly submitted UAS flight authorization requests and previously authorized requests. Finally, this concept is validated by means of a simulation. The results show that it is possible to detect all conflicts before the planned departure of an UAS in accordance with the legal basis. The modular design also makes it possible to make simple adjustments to the developed concept with regard to possible legal adjustments in this young research field.
{"title":"Concept for an automated Detection of Conflicts in UAS Traffic Management","authors":"Luca von Roenn, Tobias Grebner, A. Fay","doi":"10.1109/ICUAS57906.2023.10156359","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156359","url":null,"abstract":"Since January 26, 2023, the Commission Implementing Regulation (EU) 2021/664 applies in the European Union, with the help of which a legal basis has been created for the first time for the integration of the steadily increasing UAS traffic into the existing airspace via a so-called U-space. As the success of this approach stands and falls with acceptance by the public, it is essential that safe solutions are created. Therefore, UAS operators are now legally required to submit a UAS flight authorization request with the intended 4D trajectory prior to their flight and only if no spatial and temporal overlaps are detected, for example with other flight plans or no-fly zones, UAS operations may take place in U-space airspace. To this end, this paper presents a concept for legally compliant conflict detection that addresses both newly submitted UAS flight authorization requests and previously authorized requests. Finally, this concept is validated by means of a simulation. The results show that it is possible to detect all conflicts before the planned departure of an UAS in accordance with the legal basis. The modular design also makes it possible to make simple adjustments to the developed concept with regard to possible legal adjustments in this young research field.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115513836","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10155962
Aman Choudhary, V. A, Satadal Ghosh
Due to the rapid increase of unmanned aerial vehicle (UAV) usage, the demand for efficient autonomous interdiction techniques to safeguard protected areas has become increasingly essential. This paper presents novel guidance strategies based on Proportional Navigation (PN) to interdict a stationary target using single and multiple unmanned aerial vehicles (UAVs). While the previous literature has primarily addressed controlling the terminal angle and achieving a desired final time separately for single-pursuer and multi-pursuer setups, designing guidance strategies to achieve both simultaneously poses a significant challenge. Although few existing literature endeavor to satisfy both constraints, they lack in guaranteeing an all-aspect approach. To this end, this paper’s main contribution is enabling pursuers to achieve any terminal configuration starting from any initial orientation while satisfying the final time constraint by employing PN-based multi-phase guidance strategies in single and multiple pursuer setups. While the ‘Preparation phase’ at the beginning and the ‘Final PPN phase’ at the end help ensure the desired terminal orientation, the intermediate Roaming phase helps achieve the desired final time. Also, the guarantee on phase transitions and performance of the overall guidance schemes and conditions on achievable final time for the success of the developed guidance schemes are analyzed. Finally, using numerical simulations, the developed guidance algorithms are validated for single and multiple pursuer(s) environments considering realistic constraints.
{"title":"Proportional Navigation-Based Guidance for an Autonomous Interdiction Mission Against a Stationary Target","authors":"Aman Choudhary, V. A, Satadal Ghosh","doi":"10.1109/ICUAS57906.2023.10155962","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155962","url":null,"abstract":"Due to the rapid increase of unmanned aerial vehicle (UAV) usage, the demand for efficient autonomous interdiction techniques to safeguard protected areas has become increasingly essential. This paper presents novel guidance strategies based on Proportional Navigation (PN) to interdict a stationary target using single and multiple unmanned aerial vehicles (UAVs). While the previous literature has primarily addressed controlling the terminal angle and achieving a desired final time separately for single-pursuer and multi-pursuer setups, designing guidance strategies to achieve both simultaneously poses a significant challenge. Although few existing literature endeavor to satisfy both constraints, they lack in guaranteeing an all-aspect approach. To this end, this paper’s main contribution is enabling pursuers to achieve any terminal configuration starting from any initial orientation while satisfying the final time constraint by employing PN-based multi-phase guidance strategies in single and multiple pursuer setups. While the ‘Preparation phase’ at the beginning and the ‘Final PPN phase’ at the end help ensure the desired terminal orientation, the intermediate Roaming phase helps achieve the desired final time. Also, the guarantee on phase transitions and performance of the overall guidance schemes and conditions on achievable final time for the success of the developed guidance schemes are analyzed. Finally, using numerical simulations, the developed guidance algorithms are validated for single and multiple pursuer(s) environments considering realistic constraints.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116076971","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10155926
S. Arogeti, A. Ailon
The paper suggests a control algorithm for trajectory tracking for a group of Unmanned Aerial Vehicles (UAVs) that flies in a string-like formation in 3D space. The proposed controller is based on hyperbolic functions and guarantees the string stability property of the group. We implement a control law under physical constraints and avoid singularities during the process. To illustrate the nature of the controller and its capabilities, numerical results and simulations are presented.
{"title":"Control of a multi-UAV system in string-like flight in 3D space","authors":"S. Arogeti, A. Ailon","doi":"10.1109/ICUAS57906.2023.10155926","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155926","url":null,"abstract":"The paper suggests a control algorithm for trajectory tracking for a group of Unmanned Aerial Vehicles (UAVs) that flies in a string-like formation in 3D space. The proposed controller is based on hyperbolic functions and guarantees the string stability property of the group. We implement a control law under physical constraints and avoid singularities during the process. To illustrate the nature of the controller and its capabilities, numerical results and simulations are presented.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122755054","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156482
Savvas Papaioannou, P. Kolios, T. Theocharides, C. Panayiotou, M. Polycarpou
We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV’s motion, and camera control inputs for the 3D coverage of a given object of interest. Specifically, the coverage planning problem is formulated in this work as an optimal control problem with logical constraints to enable the UAV agent to jointly: a) select a series of discrete camera field-of-view states which satisfy a set of coverage constraints, and b) optimize its motion control inputs according to a specified mission objective. We show how this hybrid optimal control problem can be solved with standard optimization tools by converting the logical expressions in the constraints into equality/inequality constraints involving only continuous variables. Finally, probabilistic robustness is achieved by integrating the unscented transformation to the proposed controller, thus enabling the design of robust open-loop coverage plans which take into account the future posterior distribution of the UAV’s state inside the planning horizon.
{"title":"Unscented Optimal Control for 3D Coverage Planning with an Autonomous UAV Agent","authors":"Savvas Papaioannou, P. Kolios, T. Theocharides, C. Panayiotou, M. Polycarpou","doi":"10.1109/ICUAS57906.2023.10156482","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156482","url":null,"abstract":"We propose a novel probabilistically robust controller for the guidance of an unmanned aerial vehicle (UAV) in coverage planning missions, which can simultaneously optimize both the UAV’s motion, and camera control inputs for the 3D coverage of a given object of interest. Specifically, the coverage planning problem is formulated in this work as an optimal control problem with logical constraints to enable the UAV agent to jointly: a) select a series of discrete camera field-of-view states which satisfy a set of coverage constraints, and b) optimize its motion control inputs according to a specified mission objective. We show how this hybrid optimal control problem can be solved with standard optimization tools by converting the logical expressions in the constraints into equality/inequality constraints involving only continuous variables. Finally, probabilistic robustness is achieved by integrating the unscented transformation to the proposed controller, thus enabling the design of robust open-loop coverage plans which take into account the future posterior distribution of the UAV’s state inside the planning horizon.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122874945","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 : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156492
Astik Srivastava, V. R. Vasudevan, Harikesh, Raghava Nallanthiga, P. Sujit
As UAV applications in the civilian airspace increases, securely operating them in congested environment becomes more challenging. A Cauchy Artificial Potential Field (CAPF) method is presented in this research to make UAV navigation practical and secure in a cluttered dynamic environment. The CAPF approach enables the UAVs to avoid collision with obstacles that could either be static or dynamic (Another UAV) commanding mostly non-aggressive maneuvers. The approach presented in the research has been verified through simulations and testing. We compare the results of CAPF with MAPF and the proposed approach has shown improvement in terms of total acceleration and in distance traveled by vehicles while providing safer margins at higher speeds.
{"title":"A Modified Artificial Potential Field for UAV Collision Avoidance","authors":"Astik Srivastava, V. R. Vasudevan, Harikesh, Raghava Nallanthiga, P. Sujit","doi":"10.1109/ICUAS57906.2023.10156492","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156492","url":null,"abstract":"As UAV applications in the civilian airspace increases, securely operating them in congested environment becomes more challenging. A Cauchy Artificial Potential Field (CAPF) method is presented in this research to make UAV navigation practical and secure in a cluttered dynamic environment. The CAPF approach enables the UAVs to avoid collision with obstacles that could either be static or dynamic (Another UAV) commanding mostly non-aggressive maneuvers. The approach presented in the research has been verified through simulations and testing. We compare the results of CAPF with MAPF and the proposed approach has shown improvement in terms of total acceleration and in distance traveled by vehicles while providing safer margins at higher speeds.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114376183","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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