Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156284
F. J. Pérez-Grau, Pablo León Barriga, A. Viguria
The introduction of autonomous aerial robots in everyday applications has motivated the emergence of multiple competitions, which propose unique challenges to the research community. At the same time, robotic competitions are excellent opportunities to engage engineering students and improve their skills, and also end users to adopt the newest technologies. However, the high effort that teams must devote prevents the broad participation of the research community. Thus, this has motivated the arrival of dataset-based competitions in which teams do not need to integrate and operate an actual aerial robotic system. Nevertheless, succeeding in these offline challenges does not ensure that real robots will work as expected, hence limiting the impact of the developments. We propose a comprehensive strategy to maximize team participation by recording and providing real datasets in the same environment where the competitions take place. The publicly available datasets can be accessed at https://github.com/fada-catec/rami_dataset.
{"title":"Lowering the Entry Barrier to Aerial Robotics Competitions","authors":"F. J. Pérez-Grau, Pablo León Barriga, A. Viguria","doi":"10.1109/ICUAS57906.2023.10156284","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156284","url":null,"abstract":"The introduction of autonomous aerial robots in everyday applications has motivated the emergence of multiple competitions, which propose unique challenges to the research community. At the same time, robotic competitions are excellent opportunities to engage engineering students and improve their skills, and also end users to adopt the newest technologies. However, the high effort that teams must devote prevents the broad participation of the research community. Thus, this has motivated the arrival of dataset-based competitions in which teams do not need to integrate and operate an actual aerial robotic system. Nevertheless, succeeding in these offline challenges does not ensure that real robots will work as expected, hence limiting the impact of the developments. We propose a comprehensive strategy to maximize team participation by recording and providing real datasets in the same environment where the competitions take place. The publicly available datasets can be accessed at https://github.com/fada-catec/rami_dataset.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"42 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":"126128125","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/ICUAS57906.2023.10155905
Eetu Heikkilä, R. Tiusanen, Emrehan Öz
In the European regulatory regime, civil drone operations are divided into three risk-based categories. A large part of professional drone operations belongs to the specific category, in which authority approval is required to operate. The approval can be applied based on the Specific Operations Risk Assessment, SORA. Based on the risk level determined in SORA, the operation is subject to various safety requirements. Fulfilment of these requirements often calls for the involvement of competent third parties to assess various aspects of the operation. In this paper, we provide a structuring of the needs for third-party involvement in SORA. The study shows that currently there is very limited guidance for performing the third-party assessments or for determining requirements for organizations acting as competent third parties. Such requirements exist in other domains like manned aviation but to enable streamlined regulatory processes for safe drone operations, drone industry specific guidelines are needed. In this paper, we provide examples of standards and regulations that can be used as a basis for further development of the third party assessment procedures.
{"title":"Towards requirements for third-party assessments in the Specific Operations Risk Assessment process","authors":"Eetu Heikkilä, R. Tiusanen, Emrehan Öz","doi":"10.1109/ICUAS57906.2023.10155905","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155905","url":null,"abstract":"In the European regulatory regime, civil drone operations are divided into three risk-based categories. A large part of professional drone operations belongs to the specific category, in which authority approval is required to operate. The approval can be applied based on the Specific Operations Risk Assessment, SORA. Based on the risk level determined in SORA, the operation is subject to various safety requirements. Fulfilment of these requirements often calls for the involvement of competent third parties to assess various aspects of the operation. In this paper, we provide a structuring of the needs for third-party involvement in SORA. The study shows that currently there is very limited guidance for performing the third-party assessments or for determining requirements for organizations acting as competent third parties. Such requirements exist in other domains like manned aviation but to enable streamlined regulatory processes for safe drone operations, drone industry specific guidelines are needed. In this paper, we provide examples of standards and regulations that can be used as a basis for further development of the third party assessment procedures.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"13 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":"124772786","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/ICUAS57906.2023.10155890
Augusto Sales, P. Mira, Ana Maria Nascimento, Alexandre Brandão, M. Saska, Tiago P. Nascimento
In conjunction with the growth of automated warehouses, a logistical problem also increases. The automated inventory counting problem emerges from the difficulty of managing the products of these large distribution centers. Usually, these centers have long corridors and high shelves with many different products. To solve this problem, this work proposes an approach of a highly-scalable low-cost plug-and-play multirobot system for inventory management. Our approach is composed of a set that includes a micro-drone, an embedded camera module, and a ground mobile robot. In our tests, two situations are analyzed: first with one heterogeneous multirobot system set and a second situation with two heterogeneous multi-robot system sets. The results demonstrate the advantage of having the interconnected multi-robot system to reduce the time of the inventory management task.
{"title":"Heterogeneous Multi-Robot Systems Approach for Warehouse Inventory Management","authors":"Augusto Sales, P. Mira, Ana Maria Nascimento, Alexandre Brandão, M. Saska, Tiago P. Nascimento","doi":"10.1109/ICUAS57906.2023.10155890","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155890","url":null,"abstract":"In conjunction with the growth of automated warehouses, a logistical problem also increases. The automated inventory counting problem emerges from the difficulty of managing the products of these large distribution centers. Usually, these centers have long corridors and high shelves with many different products. To solve this problem, this work proposes an approach of a highly-scalable low-cost plug-and-play multirobot system for inventory management. Our approach is composed of a set that includes a micro-drone, an embedded camera module, and a ground mobile robot. In our tests, two situations are analyzed: first with one heterogeneous multirobot system set and a second situation with two heterogeneous multi-robot system sets. The results demonstrate the advantage of having the interconnected multi-robot system to reduce the time of the inventory management task.","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":"128330308","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/ICUAS57906.2023.10155995
Ann-Kathrin Koschlik, H. Meyer, Emy Arts, Philipp Conen, G. Jacob, Maria Soria-Gomez, A. Kamtsiuris, Lukas Jilke, Johanna Aigner, F. Raddatz, Gerko Wende
With rising numbers of Unmanned Aerial Systems (UASs) national and international authorities are currently negotiating the regulations for the operation of UASs. Even though UASs are smaller and less complex than manned aircraft, Maintenance, Repair and Overhaul (MRO) aspects are not yet sufficiently considered. In a step towards safer and more autonomous operations of UASs, we intend to develop an Integrated Vehicle Health Management (IVHM) for Condition- Based Maintenance. This highly integrated system aims at constantly monitoring the health status of the UAS and at supporting all involved stakeholders. A necessity to IVHM is a vast data gathering process at different points in time as well as at different locations. Multi-stakeholder Digital Twins can achieve this by collecting the necessary data and allowing all stakeholders to base their decisions on the most up-to-date status of their system. We conclude this paper by demonstrating a first prototype operation under realistic conditions.
{"title":"Towards an Integrated Vehicle Health Management for Maintenance of Unmanned Air Systems","authors":"Ann-Kathrin Koschlik, H. Meyer, Emy Arts, Philipp Conen, G. Jacob, Maria Soria-Gomez, A. Kamtsiuris, Lukas Jilke, Johanna Aigner, F. Raddatz, Gerko Wende","doi":"10.1109/ICUAS57906.2023.10155995","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155995","url":null,"abstract":"With rising numbers of Unmanned Aerial Systems (UASs) national and international authorities are currently negotiating the regulations for the operation of UASs. Even though UASs are smaller and less complex than manned aircraft, Maintenance, Repair and Overhaul (MRO) aspects are not yet sufficiently considered. In a step towards safer and more autonomous operations of UASs, we intend to develop an Integrated Vehicle Health Management (IVHM) for Condition- Based Maintenance. This highly integrated system aims at constantly monitoring the health status of the UAS and at supporting all involved stakeholders. A necessity to IVHM is a vast data gathering process at different points in time as well as at different locations. Multi-stakeholder Digital Twins can achieve this by collecting the necessary data and allowing all stakeholders to base their decisions on the most up-to-date status of their system. We conclude this paper by demonstrating a first prototype operation under realistic conditions.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"15 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":"128533973","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/ICUAS57906.2023.10156138
Di An, Rafal Krzysiak, Derek Hollenbeck, Yangquan Chen
Lithium-ion and Lithium Polymer batteries have been widely used in electric and unmanned aircraft vehicles, enabling many applications and developing a highly commercialized and demanding market. Precisely estimating the battery capacity (State of Charge (SOC)) is still a challenging problem due to many limitations. Prior work assessing battery capacity relies more on the battery’s internal physical model and less on surrounding factors, which makes the accuracy of the estimation of capacity fluctuate under different scenarios. Therefore, we present a cognitive battery management system to empower intelligence in the battery so that it can justify its current capacity and whether it will be enough for the mission and a safe landing. Our system leverages the battery temperature as the essential factor for estimating the capacity during flight. We evaluated our capacity estimation function parameters using the least squares method. Results reveal that battery temperature has a substantial impact on capacity assessment, which perfectly accomplishes the first step toward a cognitive battery management system.
{"title":"Battery-health-aware UAV mission planning using a cognitive battery management system","authors":"Di An, Rafal Krzysiak, Derek Hollenbeck, Yangquan Chen","doi":"10.1109/ICUAS57906.2023.10156138","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156138","url":null,"abstract":"Lithium-ion and Lithium Polymer batteries have been widely used in electric and unmanned aircraft vehicles, enabling many applications and developing a highly commercialized and demanding market. Precisely estimating the battery capacity (State of Charge (SOC)) is still a challenging problem due to many limitations. Prior work assessing battery capacity relies more on the battery’s internal physical model and less on surrounding factors, which makes the accuracy of the estimation of capacity fluctuate under different scenarios. Therefore, we present a cognitive battery management system to empower intelligence in the battery so that it can justify its current capacity and whether it will be enough for the mission and a safe landing. Our system leverages the battery temperature as the essential factor for estimating the capacity during flight. We evaluated our capacity estimation function parameters using the least squares method. Results reveal that battery temperature has a substantial impact on capacity assessment, which perfectly accomplishes the first step toward a cognitive battery management system.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"6 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":"127087296","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/ICUAS57906.2023.10156589
Dario Stuhne, Goran Vasiljević, S. Bogdan, Z. Kovačić
Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing.
{"title":"Design and Validation of a Wireless Drone Docking Station","authors":"Dario Stuhne, Goran Vasiljević, S. Bogdan, Z. Kovačić","doi":"10.1109/ICUAS57906.2023.10156589","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156589","url":null,"abstract":"Drones are increasingly operating autonomously, and the need for extending drone power autonomy is rapidly increasing. One of the most promising solutions to extend drone power autonomy is the use of docking stations to support both landing and recharging of the drone. To this end, we introduce a novel wireless drone docking station with three commercial wireless charging modules. We have developed two independent units, both in mechanical and electrical aspects: the energy transmitting unit and the energy receiving unit. We have also studied the efficiency of wireless power transfer and demonstrated the advantages of connecting three receiver modules connected in series and parallel. We have achieved maximum output power of 96.5 W with a power transfer efficiency of 56.6% for the series connection of coils. Finally, we implemented the system in practice on a drone and tested both energy transfer and landing.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"21 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":"127193280","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/ICUAS57906.2023.10156388
A. Belmouhoub, Y. Bouzid, S. H. Derrouaoui, S. Medjmadj, M. Guiatni
This paper, puts forward the control of a quadcopter with variable geometry exposed to external disturbances. Using a finite Integral Terminal Synergetic Control (ITSC) scheme, which was designed to solve the trajectory tracking problem. This controller has the advantages of: use a continuous control law that eliminates the chattering phenomenon, convergence of states in finite time, good tracking performance and simple structure. Moreover, it is well suited in practice to digital implementation. The dynamics of the proposed system are derived on the basis of Newton-Euler formalism, followed by a robust control method. Lyapunov framework is exploited to ensure the stability of the controlled system. Simulation results of the designed ITSC, are exhibiting the ability of the proposed control technique for rapidly achieving the desired trajectories in a robust manner. A comparative study in both quantitative and qualitative case is carried out between ITSC and Sliding Mode Controller (SMC). Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness.
{"title":"Finite Integral Terminal Synergetic Control of a Disturbed Quadcopter with Variable Geometry","authors":"A. Belmouhoub, Y. Bouzid, S. H. Derrouaoui, S. Medjmadj, M. Guiatni","doi":"10.1109/ICUAS57906.2023.10156388","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156388","url":null,"abstract":"This paper, puts forward the control of a quadcopter with variable geometry exposed to external disturbances. Using a finite Integral Terminal Synergetic Control (ITSC) scheme, which was designed to solve the trajectory tracking problem. This controller has the advantages of: use a continuous control law that eliminates the chattering phenomenon, convergence of states in finite time, good tracking performance and simple structure. Moreover, it is well suited in practice to digital implementation. The dynamics of the proposed system are derived on the basis of Newton-Euler formalism, followed by a robust control method. Lyapunov framework is exploited to ensure the stability of the controlled system. Simulation results of the designed ITSC, are exhibiting the ability of the proposed control technique for rapidly achieving the desired trajectories in a robust manner. A comparative study in both quantitative and qualitative case is carried out between ITSC and Sliding Mode Controller (SMC). Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 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":"130586555","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/ICUAS57906.2023.10156559
Giuseppe Silano, Amr Afifi, M. Saska, A. Franchi
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
{"title":"A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration","authors":"Giuseppe Silano, Amr Afifi, M. Saska, A. Franchi","doi":"10.1109/ICUAS57906.2023.10156559","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156559","url":null,"abstract":"This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"51 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":"132051540","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/ICUAS57906.2023.10156270
Hassan Alkomy, J. Shan
This paper analyzes the energy consumption of quadrotors with slung payloads. First, it develops novel expressions for the power and energy consumption for a quadrotor with a slung payload flying in 3D. These expressions are called the power and energy quotients, which are directly proportional to the actual power and energy consumption. However, they do not require any prior knowledge of the motor and propeller parameters. Second, a comprehensive energy investigation is conducted to find the effect of polynomial trajectories, cable length, arbitrary kinematic boundary conditions, and number of waypoints on the energy consumption. This analysis has been conducted via two different Monte Carlo simulations. The results showed that increasing the degree of the polynomial trajectory increases the energy consumption and there is an optimal cable length, at which, the energy consumption is minimal. These results are valid regardless of the kinematic boundary conditions, which implies that these results are valid regardless of the number of waypoints. All results have been validated experimentally.
{"title":"Quadrotors with Slung Payloads: Energy Analysis and Experimental Validation","authors":"Hassan Alkomy, J. Shan","doi":"10.1109/ICUAS57906.2023.10156270","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156270","url":null,"abstract":"This paper analyzes the energy consumption of quadrotors with slung payloads. First, it develops novel expressions for the power and energy consumption for a quadrotor with a slung payload flying in 3D. These expressions are called the power and energy quotients, which are directly proportional to the actual power and energy consumption. However, they do not require any prior knowledge of the motor and propeller parameters. Second, a comprehensive energy investigation is conducted to find the effect of polynomial trajectories, cable length, arbitrary kinematic boundary conditions, and number of waypoints on the energy consumption. This analysis has been conducted via two different Monte Carlo simulations. The results showed that increasing the degree of the polynomial trajectory increases the energy consumption and there is an optimal cable length, at which, the energy consumption is minimal. These results are valid regardless of the kinematic boundary conditions, which implies that these results are valid regardless of the number of waypoints. All results have been validated experimentally.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 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":"123150051","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/ICUAS57906.2023.10156526
S. Sajjadi, Jeremy Bittick, F. Janabi-Sharifi, I. Mantegh
Localization of uncrewed systems in indoor environments is challenging. The fundamental challenge with indoor localization and navigation is that the Global Navigation Satellite Systems (GNSS) signal is either unavailable or not sufficiently accurate for state estimation. uncrewed agents also commonly have to navigate through unstructured environments, which can be challenging given the absence of recognizable landmarks or patterns. Furthermore, in dynamic environments where the layout or obstacles may change frequently, the drone may need to continuously update its state estimations. In the absence of GNSS measurements, uncrewed systems rely on other onboard sensors for localization. However, each set of sensors contains its own associated uncertainty and/or the possibility of occlusion or malfunction. Hence, the design and development of reliable multi-sensor fusion algorithms for localization are deemed necessary. This paper presents the implementation and performance evaluation of an adaptive and robust Moving Horizon Estimator (MHE) for improving the state estimation of a previously developed indoor localization framework using ArUco markers. The effectiveness of the proposed sensor fusion algorithm is evaluated using an experimental setup in comparison to the high-accuracy Vicon ® motion tracking camera system.
{"title":"A Robust and Adaptive Sensor Fusion Approach for Indoor UAV Localization*","authors":"S. Sajjadi, Jeremy Bittick, F. Janabi-Sharifi, I. Mantegh","doi":"10.1109/ICUAS57906.2023.10156526","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156526","url":null,"abstract":"Localization of uncrewed systems in indoor environments is challenging. The fundamental challenge with indoor localization and navigation is that the Global Navigation Satellite Systems (GNSS) signal is either unavailable or not sufficiently accurate for state estimation. uncrewed agents also commonly have to navigate through unstructured environments, which can be challenging given the absence of recognizable landmarks or patterns. Furthermore, in dynamic environments where the layout or obstacles may change frequently, the drone may need to continuously update its state estimations. In the absence of GNSS measurements, uncrewed systems rely on other onboard sensors for localization. However, each set of sensors contains its own associated uncertainty and/or the possibility of occlusion or malfunction. Hence, the design and development of reliable multi-sensor fusion algorithms for localization are deemed necessary. This paper presents the implementation and performance evaluation of an adaptive and robust Moving Horizon Estimator (MHE) for improving the state estimation of a previously developed indoor localization framework using ArUco markers. The effectiveness of the proposed sensor fusion algorithm is evaluated using an experimental setup in comparison to the high-accuracy Vicon ® motion tracking camera system.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"194 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":"116147396","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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