Pub Date : 2019-06-01DOI: 10.1109/ICUAS.2019.8797920
Sohan Suvarna, Hoam Chung, R. Pant
This paper presents a novel method for the design of a small unmanned airship with stability considerations. Conventional design methods for airship envelope require the structure weight including the fin weight to be fixed before determining the envelope size. One of the shortcomings of the traditional methodology is that the weight budget of the fin drives the fin design. In contrast to the conventional design methods, our method estimates the envelope size and the fin weight budget simultaneously. Our approach also shows how an airship fin could be optimized to improve directional stability. The design of a small unmanned airship is also discussed in this paper to demonstrate the methodology.
{"title":"Design Methodology of a Small Unmanned Airship with Optimized Fins","authors":"Sohan Suvarna, Hoam Chung, R. Pant","doi":"10.1109/ICUAS.2019.8797920","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797920","url":null,"abstract":"This paper presents a novel method for the design of a small unmanned airship with stability considerations. Conventional design methods for airship envelope require the structure weight including the fin weight to be fixed before determining the envelope size. One of the shortcomings of the traditional methodology is that the weight budget of the fin drives the fin design. In contrast to the conventional design methods, our method estimates the envelope size and the fin weight budget simultaneously. Our approach also shows how an airship fin could be optimized to improve directional stability. The design of a small unmanned airship is also discussed in this paper to demonstrate the methodology.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129576659","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8797786
Yintao Zhang, Youmin Zhang, Ziquan Yu
Forest fires usually appear in complicated terrain, as a result, ground vehicles are obviously inaccessible to these fire areas. In recent years, Unmanned Aerial Vehicles (UAVs) have been paid increasing attention and become a very promising solution to forest fires searching and monitoring. This paper explores the application of UAVs in the wild forest fires searching and fire frontier monitoring mission. First, the FARSITE fire model is used to simulate the realistic wild fire behavior. After that, the fire search problem is solved with Genetic Algorithm (GA). Then, a cooperative fire monitoring algorithm is investigated. Finally, simulation results show the effectiveness of the proposed searching and monitoring methods.
{"title":"A Solution for Searching and Monitoring Forest Fires Based on Multiple UAVs","authors":"Yintao Zhang, Youmin Zhang, Ziquan Yu","doi":"10.1109/ICUAS.2019.8797786","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797786","url":null,"abstract":"Forest fires usually appear in complicated terrain, as a result, ground vehicles are obviously inaccessible to these fire areas. In recent years, Unmanned Aerial Vehicles (UAVs) have been paid increasing attention and become a very promising solution to forest fires searching and monitoring. This paper explores the application of UAVs in the wild forest fires searching and fire frontier monitoring mission. First, the FARSITE fire model is used to simulate the realistic wild fire behavior. After that, the fire search problem is solved with Genetic Algorithm (GA). Then, a cooperative fire monitoring algorithm is investigated. Finally, simulation results show the effectiveness of the proposed searching and monitoring methods.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129839199","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8797948
Shakeeb Ahmad, R. Fierro
This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive the world around it. Moreover, all the computations are performed onboard. Feasible trajectory generation in this kind of problems requires rapid collision checks along with efficient planning algorithms. We propose a trajectory generation approach in the depth image space, which refers to the environment information as depicted by the depth images. In order to predict the collision in a look ahead robot trajectory, we create depth images from the sequence of robot poses along the path. We compare these images with the depth images of the actual world sensed through the forward facing stereo camera. We aim at generating fuel optimal trajectories inside the depth image space. In case of a predicted collision, a switching strategy is used to aggressively deviate the quadrotor away from the obstacle. For this purpose we use two closed loop motion primitives based on Linear Quadratic Regulator (LQR) objective functions. The proposed approach is validated through simulation and hardware experiments.
{"title":"Real-time Quadrotor Navigation Through Planning in Depth Space in Unstructured Environments*","authors":"Shakeeb Ahmad, R. Fierro","doi":"10.1109/ICUAS.2019.8797948","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797948","url":null,"abstract":"This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive the world around it. Moreover, all the computations are performed onboard. Feasible trajectory generation in this kind of problems requires rapid collision checks along with efficient planning algorithms. We propose a trajectory generation approach in the depth image space, which refers to the environment information as depicted by the depth images. In order to predict the collision in a look ahead robot trajectory, we create depth images from the sequence of robot poses along the path. We compare these images with the depth images of the actual world sensed through the forward facing stereo camera. We aim at generating fuel optimal trajectories inside the depth image space. In case of a predicted collision, a switching strategy is used to aggressively deviate the quadrotor away from the obstacle. For this purpose we use two closed loop motion primitives based on Linear Quadratic Regulator (LQR) objective functions. The proposed approach is validated through simulation and hardware experiments.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128368143","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8797822
Antonio C. B. Chiella, B. Teixeira, G. Pereira
Autonomous navigation of unnamed vehicles in a forest is a challenging task. In such environments, due to the canopies of the trees, GNSS-based navigation can be degraded or even unavailable. In this paper we propose a state estimation solution for aerial vehicles based on the fusion of GNSS, AHRS and LIDAR-based odometry. In our LIDAR odometry solution, the trunks of the trees are used in a feature-based scan-matching algorithm to estimate the relative movement of the vehicle. Our method uses a robust adaptive fusion algorithm based on the unscented Kalman filter. Experimental data collected during the navigation of a quadrotor in an actual forest environment is used to demonstrate the effectiveness of our approach.
{"title":"State Estimation for Aerial Vehicles in Forest Environments","authors":"Antonio C. B. Chiella, B. Teixeira, G. Pereira","doi":"10.1109/ICUAS.2019.8797822","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797822","url":null,"abstract":"Autonomous navigation of unnamed vehicles in a forest is a challenging task. In such environments, due to the canopies of the trees, GNSS-based navigation can be degraded or even unavailable. In this paper we propose a state estimation solution for aerial vehicles based on the fusion of GNSS, AHRS and LIDAR-based odometry. In our LIDAR odometry solution, the trunks of the trees are used in a feature-based scan-matching algorithm to estimate the relative movement of the vehicle. Our method uses a robust adaptive fusion algorithm based on the unscented Kalman filter. Experimental data collected during the navigation of a quadrotor in an actual forest environment is used to demonstrate the effectiveness of our approach.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128378650","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8797808
Hyorin Park, J. R. Morrison
Despite the capabilities of unmanned aerial vehicles (UAVs), it is not possible to conduct long-term missions with a just few UAVs due to fuel restrictions. This requires a system that includes multiple UAVs and automated recharging stations for an automatic and persistent service. In order to construct a persistent presence system such as local surveillance and monitoring, it is important to determine the design of the mission and the number of resources required. In this paper, a system consisting of multiple target areas and multiple stations is considered. There are two types of stations: refueling and main stations for maintenance. UAVs can travel further using the refueling stations. A decision-free Petri net model for persistency is developed for cyclic paths including multiple immobile targets and stations. From the Petri net model, we derive a closed-form function for the minimum number of resources in the persistent system. A mathematical model that has the objective function derived from the Petri net is developed. To resolve the computational issue, a genetic algorithm (GA) is used to solve the problem. As the result, the minimum number of resources required and the mission path are derived.
{"title":"System design and resource analysis for persistent robotic presence with multiple refueling stations","authors":"Hyorin Park, J. R. Morrison","doi":"10.1109/ICUAS.2019.8797808","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797808","url":null,"abstract":"Despite the capabilities of unmanned aerial vehicles (UAVs), it is not possible to conduct long-term missions with a just few UAVs due to fuel restrictions. This requires a system that includes multiple UAVs and automated recharging stations for an automatic and persistent service. In order to construct a persistent presence system such as local surveillance and monitoring, it is important to determine the design of the mission and the number of resources required. In this paper, a system consisting of multiple target areas and multiple stations is considered. There are two types of stations: refueling and main stations for maintenance. UAVs can travel further using the refueling stations. A decision-free Petri net model for persistency is developed for cyclic paths including multiple immobile targets and stations. From the Petri net model, we derive a closed-form function for the minimum number of resources in the persistent system. A mathematical model that has the objective function derived from the Petri net is developed. To resolve the computational issue, a genetic algorithm (GA) is used to solve the problem. As the result, the minimum number of resources required and the mission path are derived.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123955341","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8797939
Aakif Mairaj, Subhrajit Majumder, A. Javaid
Game theory involves the mathematical modeling of the strategic interaction between rational entities. One such example is the interaction between a hacker and the defense mechanisms of its target. There have been different kinds of attacks on an Unmanned Aerial Vehicle (UAV or drone) Network (UAVNet) or a Flying ad hoc network (FANET) in the recent past. The rational solution to such problems is identifying the strategies that can be chosen by the attacker, and selecting a defensive response that is most apt and intelligent while considering all the choices that a target’s defensive mechanisms can make. This paper is an attempt to identify a game like situation, when a single UAV is under a DDoS attack, while a genuine UAVNet is trying to communicate with it. Two different cases of this common attack are simulated, namely, UDP flooding, and ICMP (Ping) flooding. In both cases, the intensity of these attacks is gauged with different choices made by the attacker and the target alike. Finally, the decisions that are conducive to the attacker and the victim are identified.
{"title":"Game Theoretic Strategies for an Unmanned Aerial Vehicle Network Host Under DDoS Attack","authors":"Aakif Mairaj, Subhrajit Majumder, A. Javaid","doi":"10.1109/ICUAS.2019.8797939","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797939","url":null,"abstract":"Game theory involves the mathematical modeling of the strategic interaction between rational entities. One such example is the interaction between a hacker and the defense mechanisms of its target. There have been different kinds of attacks on an Unmanned Aerial Vehicle (UAV or drone) Network (UAVNet) or a Flying ad hoc network (FANET) in the recent past. The rational solution to such problems is identifying the strategies that can be chosen by the attacker, and selecting a defensive response that is most apt and intelligent while considering all the choices that a target’s defensive mechanisms can make. This paper is an attempt to identify a game like situation, when a single UAV is under a DDoS attack, while a genuine UAVNet is trying to communicate with it. Two different cases of this common attack are simulated, namely, UDP flooding, and ICMP (Ping) flooding. In both cases, the intensity of these attacks is gauged with different choices made by the attacker and the target alike. Finally, the decisions that are conducive to the attacker and the victim are identified.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":" 114","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113952864","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8798350
Jiaming Zha, E. Thacher, Joseph Kroeger, Simo A. Mäkiharju, M. Mueller
Unmanned aerial-underwater vehicles (UAUVs) provide the potential for working on missions in complex multi-domain environments. To achieve amphibian mobility, current UAUV designs rely on additional mechanical components such as multiple layers of propeller blades, water ballast, buoys or wings. This paper presents a miniature UAUV which has a simple mechanical design that resembles a traditional quadcopter. The paper discusses the dynamic modelling, state estimation and control strategy for this UAUV, as well as a detailed characterization of the quadcopter blades operating in the air and water regimes. A strategy for the UAUV to breach calm water surface is then proposed and experimentally tested. The results demonstrate that the UAUV can successfully breach the still water surface, but also show tracking error and breaching delay that are not fully characterized by the model. This suggests the need to carry out further analysis on the dynamics of the UAUV both underwater and in the transition regime.
{"title":"Towards breaching a still water surface with a miniature unmanned aerial underwater vehicle","authors":"Jiaming Zha, E. Thacher, Joseph Kroeger, Simo A. Mäkiharju, M. Mueller","doi":"10.1109/ICUAS.2019.8798350","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798350","url":null,"abstract":"Unmanned aerial-underwater vehicles (UAUVs) provide the potential for working on missions in complex multi-domain environments. To achieve amphibian mobility, current UAUV designs rely on additional mechanical components such as multiple layers of propeller blades, water ballast, buoys or wings. This paper presents a miniature UAUV which has a simple mechanical design that resembles a traditional quadcopter. The paper discusses the dynamic modelling, state estimation and control strategy for this UAUV, as well as a detailed characterization of the quadcopter blades operating in the air and water regimes. A strategy for the UAUV to breach calm water surface is then proposed and experimentally tested. The results demonstrate that the UAUV can successfully breach the still water surface, but also show tracking error and breaching delay that are not fully characterized by the model. This suggests the need to carry out further analysis on the dynamics of the UAUV both underwater and in the transition regime.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124056424","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8798259
Mandeep Singh, Amith Manoharan, Ashwini Ratnoo, P. Sujit
Path following is an essential requirement for unmanned aerial vehicles. Typically, these paths are in three dimensions and the shape of the paths are application dependent. Mapping applications require stationary paths while moving target tracking with a stand-off distance involves moving reference paths. A path following strategy is required that can be used for stationary and moving path following applications and is robust to wind disturbances. In this paper, we propose an adaptive optimal guidance strategy using State Dependent Ricatti Equation (SDRE) approach. Comparison of the guidance law is ascertained and the approach is evaluated under different wind and target motion conditions. The guidance law shows robust performance up to 10 m/s wind speed and can follow different geometric reference paths.
{"title":"Three Dimensional UAV Path Following Using SDRE Guidance","authors":"Mandeep Singh, Amith Manoharan, Ashwini Ratnoo, P. Sujit","doi":"10.1109/ICUAS.2019.8798259","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798259","url":null,"abstract":"Path following is an essential requirement for unmanned aerial vehicles. Typically, these paths are in three dimensions and the shape of the paths are application dependent. Mapping applications require stationary paths while moving target tracking with a stand-off distance involves moving reference paths. A path following strategy is required that can be used for stationary and moving path following applications and is robust to wind disturbances. In this paper, we propose an adaptive optimal guidance strategy using State Dependent Ricatti Equation (SDRE) approach. Comparison of the guidance law is ascertained and the approach is evaluated under different wind and target motion conditions. The guidance law shows robust performance up to 10 m/s wind speed and can follow different geometric reference paths.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134103058","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8798131
D. K. Villa, A. Brandão, M. Sarcinelli-Filho
Aiming to address and contribute to the topic of load transportation using aerial vehicles, this work presents a cooperative system using two quadrotors to carry a rod-shaped load. The problem is dealt with as a virtual-structure formation, considering the load and quadrotor as a line formation that needs to be accomplished. The load is carried as a cable-suspended one, and a nonlinear controller based on feedback linearization is employed to fulfill the mission requests while minimizing the load oscillations. Experiments were conducted using two AR.Drone 2.0 quadrotors, carrying an aluminum rod. The paper presents the results of such experiments in illustrations and videos, showing the good performance of the proposed algorithms, thus validating them.
{"title":"Rod-shaped payload transportation using multiple quadrotors","authors":"D. K. Villa, A. Brandão, M. Sarcinelli-Filho","doi":"10.1109/ICUAS.2019.8798131","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798131","url":null,"abstract":"Aiming to address and contribute to the topic of load transportation using aerial vehicles, this work presents a cooperative system using two quadrotors to carry a rod-shaped load. The problem is dealt with as a virtual-structure formation, considering the load and quadrotor as a line formation that needs to be accomplished. The load is carried as a cable-suspended one, and a nonlinear controller based on feedback linearization is employed to fulfill the mission requests while minimizing the load oscillations. Experiments were conducted using two AR.Drone 2.0 quadrotors, carrying an aluminum rod. The paper presents the results of such experiments in illustrations and videos, showing the good performance of the proposed algorithms, thus validating them.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117291341","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 : 2019-06-01DOI: 10.1109/ICUAS.2019.8797711
Tiago Oliveira, Anna Agamyrzyansc, L. Correia
This paper presents a new computational tool that can be applied to the analysis of communications range and capacity limits of a team of Unmanned Aerial Vehicles (UAVs) operating in ad-hoc networks. The proposed tool is implemented using a modular approach and provides the maximum range of the UAV network, depending on the number of UAVs, on the video data rate of each UAV, and on the number of simultaneous video transmissions. Two application scenarios in maritime environments are specifically considered: 1) collaborative search and tracking of targets and 2) circular formation flight for detection of external threats to ship convoys. Numerical simulations are presented, allowing to characterize the performance of the network. Preliminary flight test results using two ANTEX-X02 UAVs from the Portuguese Air Force (PoAF) are also included.
{"title":"A computational tool to assess communications’ range and capacity limits of ad-hoc networks of UAVs operating in maritime scenarios","authors":"Tiago Oliveira, Anna Agamyrzyansc, L. Correia","doi":"10.1109/ICUAS.2019.8797711","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797711","url":null,"abstract":"This paper presents a new computational tool that can be applied to the analysis of communications range and capacity limits of a team of Unmanned Aerial Vehicles (UAVs) operating in ad-hoc networks. The proposed tool is implemented using a modular approach and provides the maximum range of the UAV network, depending on the number of UAVs, on the video data rate of each UAV, and on the number of simultaneous video transmissions. Two application scenarios in maritime environments are specifically considered: 1) collaborative search and tracking of targets and 2) circular formation flight for detection of external threats to ship convoys. Numerical simulations are presented, allowing to characterize the performance of the network. Preliminary flight test results using two ANTEX-X02 UAVs from the Portuguese Air Force (PoAF) are also included.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133445392","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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