Pub Date : 2019-04-15DOI: 10.1108/IJIUS-05-2018-0011
S. Ayvaz, S. Cetin
Purpose The purpose of this paper is to develop a model for autonomous cars to establish trusted parties by combining distributed ledgers and self-driving cars in the traffic to provide single version of the truth and thus build public trust. Design/methodology/approach The model, which the authors call Witness of Things, is based on keeping decision logs of autonomous vehicles in distributed ledgers through the use of vehicular networks and vehicle-to-vehicle/vehicle-to-infrastructure (or vice versa) communications. The model provides a single version of the truth and thus helps enable the autonomous vehicle industry, related organizations and governmental institutions to discover the true causes of road accidents and their consequences in investigations. Findings In this paper, the authors explored one of the potential effects of blockchain protocol on autonomous vehicles. The framework provides a solution for operating autonomous cars in an untrusted environment without needing a central authority. The model can also be generalized and applied to other intelligent unmanned systems. Originality/value This study proposes a blockchain protocol-based record-keeping model for autonomous cars to establish trusted parties in the traffic and protect single version of the truth.
{"title":"Witness of Things","authors":"S. Ayvaz, S. Cetin","doi":"10.1108/IJIUS-05-2018-0011","DOIUrl":"https://doi.org/10.1108/IJIUS-05-2018-0011","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to develop a model for autonomous cars to establish trusted parties by combining distributed ledgers and self-driving cars in the traffic to provide single version of the truth and thus build public trust.\u0000\u0000\u0000Design/methodology/approach\u0000The model, which the authors call Witness of Things, is based on keeping decision logs of autonomous vehicles in distributed ledgers through the use of vehicular networks and vehicle-to-vehicle/vehicle-to-infrastructure (or vice versa) communications. The model provides a single version of the truth and thus helps enable the autonomous vehicle industry, related organizations and governmental institutions to discover the true causes of road accidents and their consequences in investigations.\u0000\u0000\u0000Findings\u0000In this paper, the authors explored one of the potential effects of blockchain protocol on autonomous vehicles. The framework provides a solution for operating autonomous cars in an untrusted environment without needing a central authority. The model can also be generalized and applied to other intelligent unmanned systems.\u0000\u0000\u0000Originality/value\u0000This study proposes a blockchain protocol-based record-keeping model for autonomous cars to establish trusted parties in the traffic and protect single version of the truth.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-05-2018-0011","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45833707","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 : 2019-04-04DOI: 10.1108/IJIUS-05-2018-0015
P. G., A. P., K. R.
PurposeThe purpose of this paper is to discuss the special applications of unmanned aerial vehicles (UAVs) for the transport of medical goods.Design/methodology/approachExperimental work has been carried out to predict the performance characteristics of UAVs.FindingsThe results have been obtained to predict the range and endurance of UAVs, which can be optimized based on the payload and source of power.Originality/valueReal-time applications. As the medical products are necessary in the real time life saving events.
{"title":"Influence of unmanned aerial vehicle in medical product transport","authors":"P. G., A. P., K. R.","doi":"10.1108/IJIUS-05-2018-0015","DOIUrl":"https://doi.org/10.1108/IJIUS-05-2018-0015","url":null,"abstract":"PurposeThe purpose of this paper is to discuss the special applications of unmanned aerial vehicles (UAVs) for the transport of medical goods.Design/methodology/approachExperimental work has been carried out to predict the performance characteristics of UAVs.FindingsThe results have been obtained to predict the range and endurance of UAVs, which can be optimized based on the payload and source of power.Originality/valueReal-time applications. As the medical products are necessary in the real time life saving events.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-04-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-05-2018-0015","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49494417","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 : 2019-04-02DOI: 10.1108/IJIUS-10-2018-0030
Kashish Gupta, B. J. Emran, H. Najjaran
Purpose The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach. Design/methodology/approach Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time. Findings The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles. Practical implications The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV. Originality/value The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.
{"title":"Vision-based pose estimation of a multi-rotor unmanned aerial vehicle","authors":"Kashish Gupta, B. J. Emran, H. Najjaran","doi":"10.1108/IJIUS-10-2018-0030","DOIUrl":"https://doi.org/10.1108/IJIUS-10-2018-0030","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach.\u0000\u0000\u0000Design/methodology/approach\u0000Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time.\u0000\u0000\u0000Findings\u0000The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles.\u0000\u0000\u0000Practical implications\u0000The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV.\u0000\u0000\u0000Originality/value\u0000The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-04-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-10-2018-0030","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49424294","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 : 2019-03-21DOI: 10.1108/IJIUS-04-2018-0009
N. Prabhakaran, M. S. Sudhakar
Purpose The purpose of this paper is to propose a novel curvilinear path estimation model employing multivariate adaptive regression splines (MARS) for mid vehicle collision avoidance. The two-phase path estimation scheme initially uses the offset (position) value of the front and the mid (host) vehicle to build the crisp model. The resulting crisp model is MARS regressed to deliver a closely aligned actual model in the second phase. This arrangement significantly narrows the gap between the estimated and the true path analyzed using the mean square error (MSE) for different offsets on Next Generation Simulation Interstate 80 (NGSIM I-80) data set. The presented model also covers parallel parking by encompassing the reverse motion of the host vehicle in the path estimation, thereby, making it amicable for real-road scenarios. Design/methodology/approach The two-phase path estimation scheme initially uses the offset (position) value of the front and the mid (host) vehicle to build the crisp model. The resulting crisp model is MARS regressed to deliver a closely aligned actual model in the second phase. Findings This arrangement significantly narrows the gap between the estimated and the true path studied using MSE for different offsets on real (Next Generation Simulation-NGSIM) data. The presented model also covers parallel parking by encompassing the reverse motion of the host vehicle in the path estimation. Thereby, making it amicable for real-road scenarios. Originality/value This paper builds a mathematical model that considers the offset and host (mid) vehicles for appropriate path fitting.
{"title":"Offset-based curvilinear path estimation for mid vehicle collision detection and avoidance system using MARS","authors":"N. Prabhakaran, M. S. Sudhakar","doi":"10.1108/IJIUS-04-2018-0009","DOIUrl":"https://doi.org/10.1108/IJIUS-04-2018-0009","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a novel curvilinear path estimation model employing multivariate adaptive regression splines (MARS) for mid vehicle collision avoidance. The two-phase path estimation scheme initially uses the offset (position) value of the front and the mid (host) vehicle to build the crisp model. The resulting crisp model is MARS regressed to deliver a closely aligned actual model in the second phase. This arrangement significantly narrows the gap between the estimated and the true path analyzed using the mean square error (MSE) for different offsets on Next Generation Simulation Interstate 80 (NGSIM I-80) data set. The presented model also covers parallel parking by encompassing the reverse motion of the host vehicle in the path estimation, thereby, making it amicable for real-road scenarios.\u0000\u0000\u0000Design/methodology/approach\u0000The two-phase path estimation scheme initially uses the offset (position) value of the front and the mid (host) vehicle to build the crisp model. The resulting crisp model is MARS regressed to deliver a closely aligned actual model in the second phase.\u0000\u0000\u0000Findings\u0000This arrangement significantly narrows the gap between the estimated and the true path studied using MSE for different offsets on real (Next Generation Simulation-NGSIM) data. The presented model also covers parallel parking by encompassing the reverse motion of the host vehicle in the path estimation. Thereby, making it amicable for real-road scenarios.\u0000\u0000\u0000Originality/value\u0000This paper builds a mathematical model that considers the offset and host (mid) vehicles for appropriate path fitting.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-04-2018-0009","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43460964","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 : 2019-01-21DOI: 10.1108/IJIUS-07-2018-0021
B. Gunji, L DeepakB.B.V., Saraswathi M.B.L., U. Mogili
Purpose The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms, namely, cuckoo-search and bat algorithm (BA) in an unknown or partially known environment. The cuckoo-search algorithm is based on the parasitic behavior of the cuckoo, and the BA is based on the echolocation behavior of the bats. Design/methodology/approach The developed algorithm starts by sensing the obstacles in the environment using ultrasonic sensor. If there are any obstacles in the path, the authors apply the developed algorithm to find the optimal path otherwise reach the target point directly through diagonal distance. Findings The developed algorithm is implemented in MATLAB for the simulation to test the efficiency of the algorithm for different environments. The same path is considered to implement the experiment in the real-world environment. The ARDUINO microcontroller along with the ultrasonic sensor is considered to obtain the path length and time of travel of the robot to reach the goal point. Originality/value In this paper, a new hybrid algorithm has been developed to find the optimal path of the mobile robot using cuckoo search and BAs. The developed algorithm is tested with the real-world environment using the mobile robot.
{"title":"Optimal path planning of mobile robot using the hybrid cuckoo–bat algorithm in assorted environment","authors":"B. Gunji, L DeepakB.B.V., Saraswathi M.B.L., U. Mogili","doi":"10.1108/IJIUS-07-2018-0021","DOIUrl":"https://doi.org/10.1108/IJIUS-07-2018-0021","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to obtain an optimal mobile robot path planning by the hybrid algorithm, which is developed by two nature inspired meta-heuristic algorithms, namely, cuckoo-search and bat algorithm (BA) in an unknown or partially known environment. The cuckoo-search algorithm is based on the parasitic behavior of the cuckoo, and the BA is based on the echolocation behavior of the bats.\u0000\u0000\u0000Design/methodology/approach\u0000The developed algorithm starts by sensing the obstacles in the environment using ultrasonic sensor. If there are any obstacles in the path, the authors apply the developed algorithm to find the optimal path otherwise reach the target point directly through diagonal distance.\u0000\u0000\u0000Findings\u0000The developed algorithm is implemented in MATLAB for the simulation to test the efficiency of the algorithm for different environments. The same path is considered to implement the experiment in the real-world environment. The ARDUINO microcontroller along with the ultrasonic sensor is considered to obtain the path length and time of travel of the robot to reach the goal point.\u0000\u0000\u0000Originality/value\u0000In this paper, a new hybrid algorithm has been developed to find the optimal path of the mobile robot using cuckoo search and BAs. The developed algorithm is tested with the real-world environment using the mobile robot.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-07-2018-0021","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44424866","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 : 2019-01-07DOI: 10.1108/IJIUS-05-2018-0013
Ravinder Singh, K. S. Nagla
Purpose An efficient perception of the complex environment is the foremost requirement in mobile robotics. At present, the utilization of glass as a glass wall and automated transparent door in the modern building has become a highlight feature for interior decoration, which has resulted in the wrong perception of the environment by various range sensors. The perception generated by multi-data sensor fusion (MDSF) of sonar and laser is fairly consistent to detect glass but is still affected by the issues such as sensor inaccuracies, sensor reliability, scan mismatching due to glass, sensor model, probabilistic approaches for sensor fusion, sensor registration, etc. The paper aims to discuss these issues. Design/methodology/approach This paper presents a modified framework – Advanced Laser and Sonar Framework (ALSF) – to fuse the sensory information of a laser scanner and sonar to reduce the uncertainty caused by glass in an environment by selecting the optimal range information corresponding to a selected threshold value. In the proposed approach, the conventional sonar sensor model is also modified to reduce the wrong perception in sonar as an outcome of the diverse range measurement. The laser scan matching algorithm is also modified by taking out the small cluster of laser point (w.r.t. range information) to get efficient perception. Findings The probability of the occupied cells w.r.t. the modified sonar sensor model becomes consistent corresponding to diverse sonar range measurement. The scan matching technique is also modified to reduce the uncertainty caused by glass and high computational load for the efficient and fast pose estimation of the laser sensor/mobile robot to generate robust mapping. These stated modifications are linked with the proposed ALSF technique to reduce the uncertainty caused by glass, inconsistent probabilities and high load computation during the generation of occupancy grid mapping with MDSF. Various real-world experiments are performed with the implementation of the proposed approach on a mobile robot fitted with laser and sonar, and the obtained results are qualitatively and quantitatively compared with conventional approaches. Originality/value The proposed ASIF approach generates efficient perception of the complex environment contains glass and can be implemented for various robotics applications.
{"title":"Multi-data sensor fusion framework to detect transparent object for the efficient mobile robot mapping","authors":"Ravinder Singh, K. S. Nagla","doi":"10.1108/IJIUS-05-2018-0013","DOIUrl":"https://doi.org/10.1108/IJIUS-05-2018-0013","url":null,"abstract":"\u0000Purpose\u0000An efficient perception of the complex environment is the foremost requirement in mobile robotics. At present, the utilization of glass as a glass wall and automated transparent door in the modern building has become a highlight feature for interior decoration, which has resulted in the wrong perception of the environment by various range sensors. The perception generated by multi-data sensor fusion (MDSF) of sonar and laser is fairly consistent to detect glass but is still affected by the issues such as sensor inaccuracies, sensor reliability, scan mismatching due to glass, sensor model, probabilistic approaches for sensor fusion, sensor registration, etc. The paper aims to discuss these issues.\u0000\u0000\u0000Design/methodology/approach\u0000This paper presents a modified framework – Advanced Laser and Sonar Framework (ALSF) – to fuse the sensory information of a laser scanner and sonar to reduce the uncertainty caused by glass in an environment by selecting the optimal range information corresponding to a selected threshold value. In the proposed approach, the conventional sonar sensor model is also modified to reduce the wrong perception in sonar as an outcome of the diverse range measurement. The laser scan matching algorithm is also modified by taking out the small cluster of laser point (w.r.t. range information) to get efficient perception.\u0000\u0000\u0000Findings\u0000The probability of the occupied cells w.r.t. the modified sonar sensor model becomes consistent corresponding to diverse sonar range measurement. The scan matching technique is also modified to reduce the uncertainty caused by glass and high computational load for the efficient and fast pose estimation of the laser sensor/mobile robot to generate robust mapping. These stated modifications are linked with the proposed ALSF technique to reduce the uncertainty caused by glass, inconsistent probabilities and high load computation during the generation of occupancy grid mapping with MDSF. Various real-world experiments are performed with the implementation of the proposed approach on a mobile robot fitted with laser and sonar, and the obtained results are qualitatively and quantitatively compared with conventional approaches.\u0000\u0000\u0000Originality/value\u0000The proposed ASIF approach generates efficient perception of the complex environment contains glass and can be implemented for various robotics applications.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-05-2018-0013","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48039355","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 : 2019-01-07DOI: 10.1108/IJIUS-05-2018-0014
M. Fagbemi, M. Perhinschi, Ghassan Al-Sinbol
Purpose The purpose of this paper is to develop and implement a general sensor model under normal and abnormal operational conditions including nine functional categories (FCs) to provide additional tools for the design, testing and evaluation of unmanned aerial systems within the West Virginia University unmanned air systems (UAS) simulation environment. Design/methodology/approach The characteristics under normal and abnormal operation of various types of sensors typically used for UAS control are classified within nine FCs. A general and comprehensive framework for sensor modeling is defined as a sequential alteration of the exact value of the measurand corresponding to each FC. Simple mathematical and logical algorithms are used in this process. Each FC is characterized by several parameters, which may be maintained constant or may vary during simulation. The user has maximum flexibility in selecting values for the parameters within and outside sensor design ranges. These values can be set to change at pre-defined moments, such that permanent and intermittent scenarios can be simulated. Sensor outputs are integrated with the autonomous flight simulation allowing for evaluation and analysis of control laws. Findings The developed sensor model can provide the desirable levels of realism necessary for assessing UAS behavior and dynamic response under sensor failure conditions, as well as evaluating the performance of autonomous flight control laws. Research limitations/implications Due to its generality and flexibility, the proposed sensor model allows detailed insight into the dynamic implications of sensor functionality on the performance of control algorithms. It may open new directions for investigating the synergistic interactions between sensors and control systems and lead to improvements in both areas. Practical implications The implementation of the proposed sensor model provides a valuable and flexible simulation tool that can support system design for safety purposes. Specifically, it can address directly the analysis and design of fault tolerant flight control laws for autonomous UASs. The proposed model can be easily customized to be used for different complex dynamic systems. Originality/value In this paper, information on sensor functionality is fused and organized to develop a general and comprehensive framework for sensor modeling at normal and abnormal operational conditions. The implementation of the proposed approach enhances significantly the capability of the UAS simulation environment to address important issues related to the design of control laws with high performance and desirable robustness for safety purposes.
{"title":"Modeling of upset sensor operation for autonomous unmanned systems applications","authors":"M. Fagbemi, M. Perhinschi, Ghassan Al-Sinbol","doi":"10.1108/IJIUS-05-2018-0014","DOIUrl":"https://doi.org/10.1108/IJIUS-05-2018-0014","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to develop and implement a general sensor model under normal and abnormal operational conditions including nine functional categories (FCs) to provide additional tools for the design, testing and evaluation of unmanned aerial systems within the West Virginia University unmanned air systems (UAS) simulation environment.\u0000\u0000\u0000Design/methodology/approach\u0000The characteristics under normal and abnormal operation of various types of sensors typically used for UAS control are classified within nine FCs. A general and comprehensive framework for sensor modeling is defined as a sequential alteration of the exact value of the measurand corresponding to each FC. Simple mathematical and logical algorithms are used in this process. Each FC is characterized by several parameters, which may be maintained constant or may vary during simulation. The user has maximum flexibility in selecting values for the parameters within and outside sensor design ranges. These values can be set to change at pre-defined moments, such that permanent and intermittent scenarios can be simulated. Sensor outputs are integrated with the autonomous flight simulation allowing for evaluation and analysis of control laws.\u0000\u0000\u0000Findings\u0000The developed sensor model can provide the desirable levels of realism necessary for assessing UAS behavior and dynamic response under sensor failure conditions, as well as evaluating the performance of autonomous flight control laws.\u0000\u0000\u0000Research limitations/implications\u0000Due to its generality and flexibility, the proposed sensor model allows detailed insight into the dynamic implications of sensor functionality on the performance of control algorithms. It may open new directions for investigating the synergistic interactions between sensors and control systems and lead to improvements in both areas.\u0000\u0000\u0000Practical implications\u0000The implementation of the proposed sensor model provides a valuable and flexible simulation tool that can support system design for safety purposes. Specifically, it can address directly the analysis and design of fault tolerant flight control laws for autonomous UASs. The proposed model can be easily customized to be used for different complex dynamic systems.\u0000\u0000\u0000Originality/value\u0000In this paper, information on sensor functionality is fused and organized to develop a general and comprehensive framework for sensor modeling at normal and abnormal operational conditions. The implementation of the proposed approach enhances significantly the capability of the UAS simulation environment to address important issues related to the design of control laws with high performance and desirable robustness for safety purposes.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2019-01-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-05-2018-0014","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45837938","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 : 2018-10-08DOI: 10.1108/IJIUS-04-2018-0010
S. Kuleshov, A. Zaytseva, A. Aksenov
Purpose The purpose of this paper is to propose the basis for the unification of unmanned aerial vehicle (UAV) group control protocols for the fast deployment of communication network on territories unsuitable for stationary nodes placement. Design/methodology/approach The paper proposes the application of active data (AD) conception in which the data exist in a form of executable code allowing data packets to control its own propagation through network. The implementation is illustrated for some scenarios of UAV data communication network deployment, i.e., transmission of the AD using navigation functions and dynamic reconfiguration of the nodes. Findings The conception of AD expands the range of possible UAV group operations due to on-the-fly adaptation abilities to changes in existing or forthcoming group behavior protocols. This allows the real-time change of data transmission formats, frequency ranges, modulation types, radio network topologies which, in turn, provides the ability to dynamically form the special data transmission networks from a general purpose device temporarily reconfiguring them for data transmission task between transmitter and receiver beyond radio visibility range. Practical implications The paper includes use cases for some situation of UAV data communication network deployment. Originality/value The paper aims to expand the UAV group control principles by implementing by rapid adaptation to changes in existing or forthcoming group behavior protocols.
{"title":"The conceptual view of unmanned aerial vehicle implementation as a mobile communication node of active data transmission network","authors":"S. Kuleshov, A. Zaytseva, A. Aksenov","doi":"10.1108/IJIUS-04-2018-0010","DOIUrl":"https://doi.org/10.1108/IJIUS-04-2018-0010","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose the basis for the unification of unmanned aerial vehicle (UAV) group control protocols for the fast deployment of communication network on territories unsuitable for stationary nodes placement.\u0000\u0000\u0000Design/methodology/approach\u0000The paper proposes the application of active data (AD) conception in which the data exist in a form of executable code allowing data packets to control its own propagation through network. The implementation is illustrated for some scenarios of UAV data communication network deployment, i.e., transmission of the AD using navigation functions and dynamic reconfiguration of the nodes.\u0000\u0000\u0000Findings\u0000The conception of AD expands the range of possible UAV group operations due to on-the-fly adaptation abilities to changes in existing or forthcoming group behavior protocols. This allows the real-time change of data transmission formats, frequency ranges, modulation types, radio network topologies which, in turn, provides the ability to dynamically form the special data transmission networks from a general purpose device temporarily reconfiguring them for data transmission task between transmitter and receiver beyond radio visibility range.\u0000\u0000\u0000Practical implications\u0000The paper includes use cases for some situation of UAV data communication network deployment.\u0000\u0000\u0000Originality/value\u0000The paper aims to expand the UAV group control principles by implementing by rapid adaptation to changes in existing or forthcoming group behavior protocols.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2018-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-04-2018-0010","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48917673","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 : 2018-10-08DOI: 10.1108/IJIUS-01-2018-0001
Tanmoy Hazra, C. R. S. Kumar, M. Nene
Purpose The purpose of this paper is to propose a model for a two-agent multi-target-searching scenario in a two-dimensional region, where some places of the region have limited resource capacity in terms of the number of agents that can simultaneously pass through those places and few places of the region are unreachable that expand with time. The proposed cooperative search model and Petri net model facilitate the search operation considering the constraints mentioned in the paper. The Petri net model graphically illustrates different scenarios and helps the agents to validate the strategies. Design/methodology/approach In this paper, the authors have applied an optimization approach to determine the optimal locations of base stations, a cooperative search model, inclusion–exclusion principle, Cartesian product to optimize the search operation and a Petri net model to validate the search technique. Findings The proposed approach finds the optimal locations of the base stations in the region. The proposed cooperative search model allows various constraints such as resource capacity, time-dependent unreachable places/obstacles, fuel capacities of the agents, two types of targets assigned to two agents and limited sortie lengths. On the other hand, a Petri net model graphically represents whether collisions/deadlocks between the two agents are possible or not for a particular combination of paths as well as effect of time-dependent unreachable places for different combination of paths are also illustrated. Practical implications The problem addressed in this paper is similar to various real-time problems such as rescue operations during/after flood, landslide, earthquake, accident, patrolling in urban areas, international borders, forests, etc. Thus, the proposed model can benefit various organizations and departments such as rescue operation authorities, defense organizations, police departments, etc. Originality/value To the best of the authors’ knowledge, the problem addressed in this paper has not been completely explored, and the proposed cooperative search model to conduct the search operation considering the above-mentioned constraints is new. To the best of the authors’ knowledge, no paper has modeled time-dependent unreachable places with the help of Petri net.
{"title":"Two-agent cooperative search model with Petri nets","authors":"Tanmoy Hazra, C. R. S. Kumar, M. Nene","doi":"10.1108/IJIUS-01-2018-0001","DOIUrl":"https://doi.org/10.1108/IJIUS-01-2018-0001","url":null,"abstract":"\u0000Purpose\u0000The purpose of this paper is to propose a model for a two-agent multi-target-searching scenario in a two-dimensional region, where some places of the region have limited resource capacity in terms of the number of agents that can simultaneously pass through those places and few places of the region are unreachable that expand with time. The proposed cooperative search model and Petri net model facilitate the search operation considering the constraints mentioned in the paper. The Petri net model graphically illustrates different scenarios and helps the agents to validate the strategies.\u0000\u0000\u0000Design/methodology/approach\u0000In this paper, the authors have applied an optimization approach to determine the optimal locations of base stations, a cooperative search model, inclusion–exclusion principle, Cartesian product to optimize the search operation and a Petri net model to validate the search technique.\u0000\u0000\u0000Findings\u0000The proposed approach finds the optimal locations of the base stations in the region. The proposed cooperative search model allows various constraints such as resource capacity, time-dependent unreachable places/obstacles, fuel capacities of the agents, two types of targets assigned to two agents and limited sortie lengths. On the other hand, a Petri net model graphically represents whether collisions/deadlocks between the two agents are possible or not for a particular combination of paths as well as effect of time-dependent unreachable places for different combination of paths are also illustrated.\u0000\u0000\u0000Practical implications\u0000The problem addressed in this paper is similar to various real-time problems such as rescue operations during/after flood, landslide, earthquake, accident, patrolling in urban areas, international borders, forests, etc. Thus, the proposed model can benefit various organizations and departments such as rescue operation authorities, defense organizations, police departments, etc.\u0000\u0000\u0000Originality/value\u0000To the best of the authors’ knowledge, the problem addressed in this paper has not been completely explored, and the proposed cooperative search model to conduct the search operation considering the above-mentioned constraints is new. To the best of the authors’ knowledge, no paper has modeled time-dependent unreachable places with the help of Petri net.\u0000","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2018-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-01-2018-0001","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45939218","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 : 2018-10-08DOI: 10.1108/IJIUS-06-2018-0016
F. Mukhlish, J. Page, Michael Bain
PurposeThe purpose of this paper is to review the current state of proceedings in the research area of automatic swarm design and discusses possible solutions to advance swarm robotics research.Design/methodology/approachFirst, this paper begins by reviewing the current state of proceedings in the field of automatic swarm design to provide a basic understanding of the field. This should lead to the identification of which issues need to be resolved in order to move forward swarm robotics research. Then, some possible solutions to the challenges are discussed to identify future directions and how the proposed idea of incorporating learning mechanism could benefit swarm robotics design. Lastly, a novel evolutionary-learning framework for swarms based on epigenetic function is proposed with a discussion of its merits and suggestions for future research directions.FindingsThe discussion shows that main challenge which is needed to be resolved is the presence of dynamic environment which is mainly caused by agent-to-agent and agent-to-environment interactions. A possible solution to tackle the challenge is by incorporating learning capability to the swarm to tackle dynamic environment.Originality/valueThis paper gives a new perspective on how to improve automatic swarm design in order to move forward swarm robotics research. Along with the discussion, this paper also proposes a novel framework to incorporate learning mechanism into evolutionary swarm using epigenetic function.
{"title":"Evolutionary-learning framework: improving automatic swarm robotics design","authors":"F. Mukhlish, J. Page, Michael Bain","doi":"10.1108/IJIUS-06-2018-0016","DOIUrl":"https://doi.org/10.1108/IJIUS-06-2018-0016","url":null,"abstract":"PurposeThe purpose of this paper is to review the current state of proceedings in the research area of automatic swarm design and discusses possible solutions to advance swarm robotics research.Design/methodology/approachFirst, this paper begins by reviewing the current state of proceedings in the field of automatic swarm design to provide a basic understanding of the field. This should lead to the identification of which issues need to be resolved in order to move forward swarm robotics research. Then, some possible solutions to the challenges are discussed to identify future directions and how the proposed idea of incorporating learning mechanism could benefit swarm robotics design. Lastly, a novel evolutionary-learning framework for swarms based on epigenetic function is proposed with a discussion of its merits and suggestions for future research directions.FindingsThe discussion shows that main challenge which is needed to be resolved is the presence of dynamic environment which is mainly caused by agent-to-agent and agent-to-environment interactions. A possible solution to tackle the challenge is by incorporating learning capability to the swarm to tackle dynamic environment.Originality/valueThis paper gives a new perspective on how to improve automatic swarm design in order to move forward swarm robotics research. Along with the discussion, this paper also proposes a novel framework to incorporate learning mechanism into evolutionary swarm using epigenetic function.","PeriodicalId":42876,"journal":{"name":"International Journal of Intelligent Unmanned Systems","volume":" ","pages":""},"PeriodicalIF":1.0,"publicationDate":"2018-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1108/IJIUS-06-2018-0016","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42204702","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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