Pub Date : 2019-06-11DOI: 10.1109/ICUAS.2019.8798097
C. Vargas, J. S. Cansino, E. S. E. Quesada, L. G. Carrillo, L. Ramos-Velasco, R. Lozano
This paper deals with the problem of enabling a team of two Unmanned Aircraft Systems to perform an autonomous load transportation task. We propose a strategy whose main objective is to ensure a stable flight of the team of agents when cooperatively transporting the load. The strategy is based on the implementation of a neural network controller and a neural network estimator, using wavelet activation functions in combination with a cooperative multi-agent control approach. To show the effectiveness and applicability of the proposed framework, a real time experimental implementation is presented. Additionally, a comparison with respect to a classic control law is also provided, demonstrating the superior performance attained when adopting the proposed controller.
{"title":"Design and Implementation of an Artificial Neural Network Wavelet for Load Transportation with two Unmanned Aircraft Systems","authors":"C. Vargas, J. S. Cansino, E. S. E. Quesada, L. G. Carrillo, L. Ramos-Velasco, R. Lozano","doi":"10.1109/ICUAS.2019.8798097","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798097","url":null,"abstract":"This paper deals with the problem of enabling a team of two Unmanned Aircraft Systems to perform an autonomous load transportation task. We propose a strategy whose main objective is to ensure a stable flight of the team of agents when cooperatively transporting the load. The strategy is based on the implementation of a neural network controller and a neural network estimator, using wavelet activation functions in combination with a cooperative multi-agent control approach. To show the effectiveness and applicability of the proposed framework, a real time experimental implementation is presented. Additionally, a comparison with respect to a classic control law is also provided, demonstrating the superior performance attained when adopting the proposed controller.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127991850","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8798307
H. Hamadi, B. Lussier, I. Fantoni, C. Francis, H. Shraim
Control design for multi rotors UAV is an important challenge for engineers and scientists, due to the fact that the standard configurations are under-actuated, highly nonlinear, and unstable systems. In this paper, a wind force compensation strategy is proposed for a quadrotor. This strategy relies on a second order sliding mode controller based on the super twisting algorithm (STA) with an observer. Second order sliding mode technique ensures robustness to external disturbances and time varying, parametric and nonlinear uncertainties. Integration of an observer in the closed-loop system is needed for states reconstruction and the estimation of unknown external forces such as the wind effect. This estimation will allow a better monitoring of the system’s status than passive robustness, providing the opportunity for recovery tactics such as an emergency landing when the external perturbations become too strong for the system. The effectiveness of the proposed strategy is compared to an adaptative gain controller through simulation and validated in real experiments on a quadrotor.
{"title":"Observer-based Super Twisting Controller Robust to Wind Perturbation for Multirotor UAV","authors":"H. Hamadi, B. Lussier, I. Fantoni, C. Francis, H. Shraim","doi":"10.1109/ICUAS.2019.8798307","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798307","url":null,"abstract":"Control design for multi rotors UAV is an important challenge for engineers and scientists, due to the fact that the standard configurations are under-actuated, highly nonlinear, and unstable systems. In this paper, a wind force compensation strategy is proposed for a quadrotor. This strategy relies on a second order sliding mode controller based on the super twisting algorithm (STA) with an observer. Second order sliding mode technique ensures robustness to external disturbances and time varying, parametric and nonlinear uncertainties. Integration of an observer in the closed-loop system is needed for states reconstruction and the estimation of unknown external forces such as the wind effect. This estimation will allow a better monitoring of the system’s status than passive robustness, providing the opportunity for recovery tactics such as an emergency landing when the external perturbations become too strong for the system. The effectiveness of the proposed strategy is compared to an adaptative gain controller through simulation and validated in real experiments on a quadrotor.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134202144","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8798233
A. Martín-Alcántara, P. Grau, R. Fernández-Feria, A. Ollero
Inspired by the efficiency of soaring birds in crossing very large distances with barely flap their wings, this work presents a simple model of UAV that, adopting the capabilites of these animals, could improve the existent multi-rotor devices, not only in efficiency but also in safety and accessibility. Thus, simple analytical approximations to reproduce the behavior of flapping wings UAVs are explored, expecting their integration in on-board CPUs to be solved in real-time flight episodes. A comparison between gliding and wing flapping with these models indicates that the thrust generated by wingstrokes should be controlled in further studies in order to mitigate the oscillations along the path of the vehicle. The geometric parameters of the ornithopter are found to be decisive in this sense, so special attention should be paid during the design stage.
{"title":"A Simple Model for Gliding and Low-Amplitude Flapping Flight of a Bio-Inspired UAV","authors":"A. Martín-Alcántara, P. Grau, R. Fernández-Feria, A. Ollero","doi":"10.1109/ICUAS.2019.8798233","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798233","url":null,"abstract":"Inspired by the efficiency of soaring birds in crossing very large distances with barely flap their wings, this work presents a simple model of UAV that, adopting the capabilites of these animals, could improve the existent multi-rotor devices, not only in efficiency but also in safety and accessibility. Thus, simple analytical approximations to reproduce the behavior of flapping wings UAVs are explored, expecting their integration in on-board CPUs to be solved in real-time flight episodes. A comparison between gliding and wing flapping with these models indicates that the thrust generated by wingstrokes should be controlled in further studies in order to mitigate the oscillations along the path of the vehicle. The geometric parameters of the ornithopter are found to be decisive in this sense, so special attention should be paid during the design stage.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134271714","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8798314
Pu Zhang, Huifeng Xue, Shan Gao
This paper addressed a well documented open problem on the asymptotic flight-stability of the closed-loop system in the process of the windy field for a three fixed-wing unmanned aerial vehicles (UAVs) formation. The problem of stability can be converted to the analysis of dynamic response and steady-state error. The robust control compared with phononic crystal control method, it can realize the high speed and close cooperative formation of precision combat. Adding phononic crystal is not only capable of reducing the body vibration and steady-state tracking error, but also owns better robustness. The horizontal dynamic analysis of the formation of UAVs is carried out in the presence of external unknown factors. Then, an “integrated” controller is designed to control leader’s speed so that “follower” can track the “leader” in the case of decoupling, while maintaining the consensus of relative speed. The simulation results show that the “integrated” control method integrates the advantages of robust control and phononic crystal vibration attenuation.
{"title":"Asymptotic Stability Controller Design of Three Fixed-wing UAVs Formation with Windy Field","authors":"Pu Zhang, Huifeng Xue, Shan Gao","doi":"10.1109/ICUAS.2019.8798314","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798314","url":null,"abstract":"This paper addressed a well documented open problem on the asymptotic flight-stability of the closed-loop system in the process of the windy field for a three fixed-wing unmanned aerial vehicles (UAVs) formation. The problem of stability can be converted to the analysis of dynamic response and steady-state error. The robust control compared with phononic crystal control method, it can realize the high speed and close cooperative formation of precision combat. Adding phononic crystal is not only capable of reducing the body vibration and steady-state tracking error, but also owns better robustness. The horizontal dynamic analysis of the formation of UAVs is carried out in the presence of external unknown factors. Then, an “integrated” controller is designed to control leader’s speed so that “follower” can track the “leader” in the case of decoupling, while maintaining the consensus of relative speed. The simulation results show that the “integrated” control method integrates the advantages of robust control and phononic crystal vibration attenuation.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116264553","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8797933
P. H. Mathisen, T. Fossen
Navigating in environments where GNSS- and magnetometer measurements are unreliable can lead to a significant decrease in state estimation accuracy. The use of supplementary measurements, either from optical sensors or otherwise, could enhance the state estimates notably even when at low quality. Using inertial navigation corrected by a multiplicative extended Kalman filter, state estimation is performed on a simulated UAV in motion. This paper has investigated the effect of adding measurements of body-fixed velocity and specific force as reference vectors to the navigation systems of UAVs in GNSS- and magnetometer denied environments. A case study for each of the two measured vectors is performed, and compared to a reference flight without dropout of GNSS or magnetometer, and a flight with dropout, but without any additional aiding sensor.
{"title":"Robust Navigation System for UAVs in GNSS-and Magnetometer-Denied Environments","authors":"P. H. Mathisen, T. Fossen","doi":"10.1109/ICUAS.2019.8797933","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797933","url":null,"abstract":"Navigating in environments where GNSS- and magnetometer measurements are unreliable can lead to a significant decrease in state estimation accuracy. The use of supplementary measurements, either from optical sensors or otherwise, could enhance the state estimates notably even when at low quality. Using inertial navigation corrected by a multiplicative extended Kalman filter, state estimation is performed on a simulated UAV in motion. This paper has investigated the effect of adding measurements of body-fixed velocity and specific force as reference vectors to the navigation systems of UAVs in GNSS- and magnetometer denied environments. A case study for each of the two measured vectors is performed, and compared to a reference flight without dropout of GNSS or magnetometer, and a flight with dropout, but without any additional aiding sensor.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121739753","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8798176
Derek Hollenbeck, Moataz Dahabra, L. Christensen, Y. Chen
This paper describes a data quality aware framework for developing a repeatable flight mission design for fugitive methane sniffing missions using fixed wing small unmanned aerial systems (sUAS) in rural areas. The design outlines general aircraft requirements & performance characteristics as well as overviews required sensors and their performance & data quality considerations. Using Gaussian plume models, atmospheric stability and detection experiments from previous works - we outline a mission design that focuses on detection of downwind plume using a two flux plane flight path. This mission design aims to aid future efforts in improving flux quantification accuracy, uncertainty and comparison between individual experiments.
{"title":"Data Quality Aware Flight Mission Design for Fugitive Methane Sniffing using Fixed Wing sUAS","authors":"Derek Hollenbeck, Moataz Dahabra, L. Christensen, Y. Chen","doi":"10.1109/ICUAS.2019.8798176","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798176","url":null,"abstract":"This paper describes a data quality aware framework for developing a repeatable flight mission design for fugitive methane sniffing missions using fixed wing small unmanned aerial systems (sUAS) in rural areas. The design outlines general aircraft requirements & performance characteristics as well as overviews required sensors and their performance & data quality considerations. Using Gaussian plume models, atmospheric stability and detection experiments from previous works - we outline a mission design that focuses on detection of downwind plume using a two flux plane flight path. This mission design aims to aid future efforts in improving flux quantification accuracy, uncertainty and comparison between individual experiments.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124967392","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8797898
Louis Viard, P. Moreau
The operations of Cyber-Physical Systems – such as Unmanned Aircrafts - are drastically evolving. Worked up legislations are enabling new kinds of tasks in complex environments, inducing a change of policy in mission definition. Handling the consequent risks not only calls for verification of both the system and its mission, but it also requires to keep watch on the gap between the real world and the models that were used to get these guarantees. Furthermore, fallback missions ought to be specified to mitigate the occurence of undesired events.We introduce Sophrosyne, a Domain-Specific Language for CPS operation that integrates monitors and alternative behaviours definition as part of the specification of missions. A simple geofence-related case study showcases how Sophrosyne eases the management of tangled fallbacks.
{"title":"Monitor-Centric Mission Definition With Sophrosyne","authors":"Louis Viard, P. Moreau","doi":"10.1109/ICUAS.2019.8797898","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797898","url":null,"abstract":"The operations of Cyber-Physical Systems – such as Unmanned Aircrafts - are drastically evolving. Worked up legislations are enabling new kinds of tasks in complex environments, inducing a change of policy in mission definition. Handling the consequent risks not only calls for verification of both the system and its mission, but it also requires to keep watch on the gap between the real world and the models that were used to get these guarantees. Furthermore, fallback missions ought to be specified to mitigate the occurence of undesired events.We introduce Sophrosyne, a Domain-Specific Language for CPS operation that integrates monitors and alternative behaviours definition as part of the specification of missions. A simple geofence-related case study showcases how Sophrosyne eases the management of tangled fallbacks.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124084519","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8798188
Haoyu Niu, Tiebiao Zhao, Dong Wang, Y. Chen
In the past few years, unmanned aerial vehicles (UAVs), also called drones, have been widely used in precision agriculture applications, such as water stress estimation, pest monitoring, and crop yield estimation, because of the development of UAV technology and remote sensing sensors. However, how to collect data effectively can still be a big challenge. Many UAV tunable parameters can have significant impact on data quality and the data analysis, such as flight height, flight time, overlapping, and airspeed. And, little work has been done regarding to how to extract high-resolution multispectral or thermal images with limited ground-truth measurements. Therefore, in this paper, a UAV resolution and waveband aware design was conducted in order to optimally collecting remote sensing aerial images with drones. Then, the flight mission design was tested in an onion field at USDA (United States Department of Agriculture) during the growing season in 2017. Based on the research results, drones successfully provide farmers and researchers the fundamental knowledge of irrigation management to identify irrigation non-uniformity. Using multispectral and thermal images collected by drones, we are able to apply supervised learning methods to find the relationship between image features and onions irrigation treatments. It also found out that how drones flight height or resolution settings affect the accuracy of estimating onions irrigation treatment. Different spectral bands combination also has effect on onion irrigation treatment prediction.
{"title":"A UAV Resolution and Waveband Aware Path Planning for Onion Irrigation Treatments Inference","authors":"Haoyu Niu, Tiebiao Zhao, Dong Wang, Y. Chen","doi":"10.1109/ICUAS.2019.8798188","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798188","url":null,"abstract":"In the past few years, unmanned aerial vehicles (UAVs), also called drones, have been widely used in precision agriculture applications, such as water stress estimation, pest monitoring, and crop yield estimation, because of the development of UAV technology and remote sensing sensors. However, how to collect data effectively can still be a big challenge. Many UAV tunable parameters can have significant impact on data quality and the data analysis, such as flight height, flight time, overlapping, and airspeed. And, little work has been done regarding to how to extract high-resolution multispectral or thermal images with limited ground-truth measurements. Therefore, in this paper, a UAV resolution and waveband aware design was conducted in order to optimally collecting remote sensing aerial images with drones. Then, the flight mission design was tested in an onion field at USDA (United States Department of Agriculture) during the growing season in 2017. Based on the research results, drones successfully provide farmers and researchers the fundamental knowledge of irrigation management to identify irrigation non-uniformity. Using multispectral and thermal images collected by drones, we are able to apply supervised learning methods to find the relationship between image features and onions irrigation treatments. It also found out that how drones flight height or resolution settings affect the accuracy of estimating onions irrigation treatment. Different spectral bands combination also has effect on onion irrigation treatment prediction.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"14 25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124741010","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8797941
J. Flores, S. Salazar, R. Lozano
An hybrid autogyro aircraft with wind energy conversion using autorotation is proposed. The fixed wing addition to classic autogyro assists the aircraft lifting reducing speed minimum wind for the flight. A PID control strategy is used to attitude aircraft stabilization. In order to verify the generation of energy, the relationship between energy and wind speed are recorded during experimental flights.
{"title":"Hybrid autogyro: Airborne wind gust energy conversion using autorrotation","authors":"J. Flores, S. Salazar, R. Lozano","doi":"10.1109/ICUAS.2019.8797941","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797941","url":null,"abstract":"An hybrid autogyro aircraft with wind energy conversion using autorotation is proposed. The fixed wing addition to classic autogyro assists the aircraft lifting reducing speed minimum wind for the flight. A PID control strategy is used to attitude aircraft stabilization. In order to verify the generation of energy, the relationship between energy and wind speed are recorded during experimental flights.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130113961","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 : 2019-06-11DOI: 10.1109/ICUAS.2019.8798088
Kiwon Sohn, M. Murshid
In this paper, an approach to increase perception space of a ground standing robot via data transmission from an aerial robot is presented. Since the collected point cloud data from two robots have different coordinates, a rigid registration based approach is applied to align the coordinate of the aerial robot’s perception space to the ground robot’s one. First, the static markers which are attached to the base position of the ground robot are used to compute the transformation. However, they did not work properly when the markers are accidentally invisible due to its kinematic limits. To solve the issue, the dynamic markers which are attached to both fixed (base) and movable links of the ground robot are also studied. To account for kinematic changes of dynamic markers, forward kinematics of the ground robot’s limb is iteratively updated and applied to the rigid transformation computation. The both approaches were tested and evaluated through experiments with a full-sized armed robot and a drone in a mock-up of task field.
{"title":"Increasing Perception Space of a Ground Standing Robot via Data Transmission from an Aerial Robot","authors":"Kiwon Sohn, M. Murshid","doi":"10.1109/ICUAS.2019.8798088","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798088","url":null,"abstract":"In this paper, an approach to increase perception space of a ground standing robot via data transmission from an aerial robot is presented. Since the collected point cloud data from two robots have different coordinates, a rigid registration based approach is applied to align the coordinate of the aerial robot’s perception space to the ground robot’s one. First, the static markers which are attached to the base position of the ground robot are used to compute the transformation. However, they did not work properly when the markers are accidentally invisible due to its kinematic limits. To solve the issue, the dynamic markers which are attached to both fixed (base) and movable links of the ground robot are also studied. To account for kinematic changes of dynamic markers, forward kinematics of the ground robot’s limb is iteratively updated and applied to the rigid transformation computation. The both approaches were tested and evaluated through experiments with a full-sized armed robot and a drone in a mock-up of task field.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133808611","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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