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Journal articles on the topic 'Autonomous Unmanned Aerial Vehicle Systems'
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1
Oktay, Tugrul, Harun Celik, and Ilke Turkmen. "Maximizing autonomous performance of fixed-wing unmanned aerial vehicle to reduce motion blur in taken images." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 232, no. 7 (March 28, 2018): 857–68. http://dx.doi.org/10.1177/0959651818765027.
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In this study, reducing motion blur in images taken by our unmanned aerial vehicle is investigated. Since shakes of unmanned aerial vehicle cause motion blur in taken images, autonomous performance of our unmanned aerial vehicle is maximized to prevent it from shakes. In order to maximize autonomous performance of unmanned aerial vehicle (i.e. to reduce motion blur), initially, camera mounted unmanned aerial vehicle dynamics are obtained. Then, optimum location of unmanned aerial vehicle camera is estimated by considering unmanned aerial vehicle dynamics and autopilot parameters. After improving unmanned aerial vehicle by optimum camera location, dynamics and controller parameters, it is called as improved autonomous controlled unmanned aerial vehicle. Also, unmanned aerial vehicle with camera fixed at the closest point to center of gravity is called as standard autonomous controlled unmanned aerial vehicle. Both improved autonomous controlled and standard autonomous controlled unmanned aerial vehicles are performed in real time flights, and approximately same trajectories are tracked. In order to compare performance of improved autonomous controlled and standard autonomous controlled unmanned aerial vehicles in reducing motion blur, a motion blur kernel model which is derived using recorded roll, pitch and yaw angles of unmanned aerial vehicle is improved. Finally, taken images are simulated to examine effect of unmanned aerial vehicle shakes. In comparison with standard autonomous controlled flight, important improvements on reducing motion blur are demonstrated by improved autonomous controlled unmanned aerial vehicle.
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Погудін, А. В., М. С. Бондарєв, and О. К. Погудіна. "ПОРІВНЯЛЬНИЙ АНАЛІЗ ТА СТВОРЕННЯ БЕЗПІЛОТНИХ ЛІТАЛЬНИХ АПАРАТІВ ДЛЯ ФОРМУВАННЯ МАКЕТА РОЙОВОЇ ВЗАЄМОДІЇ." Open Information and Computer Integrated Technologies, no. 94 (February 9, 2022): 113–21. http://dx.doi.org/10.32620/oikit.2021.94.09.
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The subject of study is the process of creating an unmanned aerial vehicle of the helicopter type, which is able to perform autonomous flight and be used in the premises to test the algorithms of swarm interaction. The aim is to reduce the cost of forming and operating the UAV swarm intelligence model, ensuring compatibility with existing hardware positioning systems and simulation software platforms. Tasks: to analyze the existing prototypes of unmanned aerial vehicles of the helicopter type, used for modeling and testing of autonomous flight modes indoors; to review the systems of positioning and exchange of information between the participants of the swarm formation and to analyze the hardware systems necessary for the implementation of these systems; to develop the architecture of hardware subsystems for unmanned aerial vehicles capable of performing tasks at the level of the considered prototypes; design a case for a sound hardware platform, check its operational parameters, implement its collection and testing; install software that allows you to check the operability of the considered platform of the unmanned aerial vehicle. The methods used are: systems analysis used to compare models of unmanned aerial vehicles within the tasks, methods of analysis and synthesis of schemes for the implementation of the hardware platform, the method of graphic modeling for the design of the unmanned aerial vehicle, methods of system programming for flight program. The following results were obtained. The choice of the hardware platform of the unmanned aerial vehicle is substantiated; the hull for the helicopter was developed and implemented, two platforms of unmanned aerial vehicles were collected and tested during autonomous flight indoors. Conclusions. The study found that there are existing and widely used platforms for compatible indoor flight. These platforms are open and closed. The analysis of open hardware platforms and synthesis of architecture of own unmanned aerial vehicle is made. The designed and implemented unmanned aerial vehicle is capable of autonomous flight, has all the necessary components to perform a compatible flight program. As part of the layout of swarm interaction, it is necessary to further adjust the positioning system.
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Kang, David S., Jamie M. Anderson, and Paul A. DeBitetto. "Draper unmanned vehicle systems." Robotica 18, no. 3 (May 2000): 263–72. http://dx.doi.org/10.1017/s0263574799002246.
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Draper Small Autonomous Aerial Vehicle (DSAAV), MITy and SMART micro-rovers, Companion mini-rover, and Vorticity Control Unmanned Undersea Vehicle (VCUUV) are highlighted. DSAAV demonstrated autonomy with GPS/INS integration and vision processing. The micro- and mini-rovers investigated ground based autonomy with extensive mapping and planning integration. VCUUV is a flexible-hull UUV which propels and maneuvers like a tuna.
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Pokorny, Jiri, Khanh Ma, Salwa Saafi, Jakub Frolka, Jose Villa, Mikhail Gerasimenko, Yevgeni Koucheryavy, and Jiri Hosek. "Prototype Design and Experimental Evaluation of Autonomous Collaborative Communication System for Emerging Maritime Use Cases." Sensors 21, no. 11 (June 3, 2021): 3871. http://dx.doi.org/10.3390/s21113871.
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Automated systems have been seamlessly integrated into several industries as part of their industrial automation processes. Employing automated systems, such as autonomous vehicles, allows industries to increase productivity, benefit from a wide range of technologies and capabilities, and improve workplace safety. So far, most of the existing systems consider utilizing one type of autonomous vehicle. In this work, we propose a collaboration of different types of unmanned vehicles in maritime offshore scenarios. Providing high capacity, extended coverage, and better quality of services, autonomous collaborative systems can enable emerging maritime use cases, such as remote monitoring and navigation assistance. Motivated by these potential benefits, we propose the deployment of an Unmanned Surface Vehicle (USV) and an Unmanned Aerial Vehicle (UAV) in an autonomous collaborative communication system. Specifically, we design high-speed, directional communication links between a terrestrial control station and the two unmanned vehicles. Using measurement and simulation results, we evaluate the performance of the designed links in different communication scenarios and we show the benefits of employing multiple autonomous vehicles in the proposed communication system.
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ZOIDZE, Mamuka Ya, Givi O. SANADZE, Oleksandr V. KRAKHMALYOV, Olena I. ZINCHENKO, and Vitalii O. BRUSENTSEV. "Challenges and perspective with using a group of small combat unmanned aerial vehicles." INCAS BULLETIN 13, S (August 3, 2021): 245–55. http://dx.doi.org/10.13111/2066-8201.2021.13.s.22.
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The article discusses the features of small unmanned aerial vehicles, perspectives, directions for the development of unmanned aerial vehicles with integrated combat units. The development trends of unmanned aerial vehicles indicate the direction of the use of the unmanned aerial vehicle in the group of small unmanned aerial vehicles operating on the principle of autonomous management. The main problems are related to solving management and groupwork tasks in the group, which leads to the use of group intelligence methods. The possibilities of group use of unmanned aerial vehicles are analyzed. One of the main goals of small drone technology is to create energy sources with high energy capacity and power. The exchange of information within a group of unmanned aerial vehicles requires the use of group-based intelligent methods based on self-organized decentralized management. Such methods are based on the self-organization of movement and communication in a group of insects, fish or birds. The analysis shows that the development trends of small-scale drones are primarily driven by advances in micro and nano technology, new approaches to aerodynamics and management, the creation of high-capacity power supplies and engines, creating autonomous micro and nano systems for navigation and communication using agreed integrated concepts. The direction of new technologies for use in the group of small unmanned aerial vehicles based on the principle of autonomous control is revealed. An algorithm for organizing interaction in a group of unmanned aerial vehicles is presented and the relevant tasks are discussed.
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Uche, U. E., and S. T. Audu. "UAV for Agrochemical Application: A Review." Nigerian Journal of Technology 40, no. 5 (May 13, 2022): 795–809. http://dx.doi.org/10.4314/njt.v40i5.5.
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Unmanned aerial vehicles (UAVs) are tools for mechanized agriculture: they are used to alleviate maladies in a variety of fields through commercial, scientific, agricultural, and infrastructure enhancement. The purpose of the paper is to illuminate knowledge on mechanized agriculture using unmanned aircraft systems for pesticides and fertilizer application in obstacle rich farm. Various journal papers were reviewed to ascertain the state-of-the-art in agricultural unmanned aerial vehicles. X-rayed are unmanned aerial vehicle agrochemicals spraying architecture and efficacy, deployment and control strategies, obstacle sensing and avoidance systems, development/studies, and the limitations of the technology. The review shows that great strides have been made to develop agricultural unmanned aerial vehicles that can autonomously identify obstacle type, realize desired avoidance actions, and carry out variable rate agrochemical application. It is however noted that studies should continue on developing protocols and standard operation procedure, more human friendly interface platform, power technology, higher payload, real time quality imagery and robust mechanical features as well as enhanced sense and avoidance technology to meet the requirement of agricultural unmanned aerial vehicle for real time autonomous actions, flight endurance, low speed and low altitude. The paper therefore addressed the lack of awareness and absence of dedicated education on precision agriculture in the farming sector that has since ensured that its adoption level as a preferred system of farming remains very low in Nigeria despite the many benefits of unmanned aircraft vehicle farming technology
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Gritsenko, Volodymyr, Oleksandr Volkov, Mykola Komar, and Dmytro Voloshenyuk. "INTEGRAL ADAPTIVE AUTOPILOT FOR AN UNMANNED AERIAL VEHICLE." Aviation 22, no. 4 (December 7, 2018): 129–35. http://dx.doi.org/10.3846/aviation.2018.6413.
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The aim of research is to study the modern algorithms used in autopilots of unmanned aerial vehicles and formulation of the problem of development and usage of new intellectual methods for automatic control systems. The approach considered in the article is based on the theory of high-precision remote control of dynamic objects and on the complex interaction of methods of theory of invariance, adaptive control and intellectualization of processes of UAV control. One of the features of the proposed method of intellectual control for unmanned aerial vehicle autopilot is the procedure of transforming a multi-dimensional system into an aggregate of virtual autonomous processes, for each of which the control algorithm is easily generated by an autonomous subsystem. Coming up next is the procedure of coordination of actions of all the autonomous systems into single functioning complex. This provides an opportunity to improved precision and sustainability of control. Using the method described in the article allows creating integral and adaptive autopilots to perform complicated spatial maneuvering an unmanned aerial vehicle being based on usage of full non-linear models without simplifications and linearization.
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Krátký, Vít, Pavel Petráček, Tiago Nascimento, Michaela Čadilová, Milan Škobrtal, Pavel Stoudek, and Martin Saska. "Safe Documentation of Historical Monuments by an Autonomous Unmanned Aerial Vehicle." ISPRS International Journal of Geo-Information 10, no. 11 (October 29, 2021): 738. http://dx.doi.org/10.3390/ijgi10110738.
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The use of robotic systems, especially multi-rotor aerial vehicles, in the documentation of historical buildings and cultural heritage monuments has become common in recent years. However, the teleoperated robotic systems have significant limitations encouraging the ongoing development of autonomous unmanned aerial vehicles (UAVs). The autonomous robotic platforms provide a more accurate and safe measurement in distant and difficult to access areas than their teleoperated counterpart. Through the use of autonomous aerial robotic systems, access to such places by humans and building of external infrastructures like scaffolding for documentation purposes is no longer necessary. In this work, we aim to present a novel autonomous unmanned aerial vehicle designed for the documentation of hardly attainable areas of historical buildings. The prototype of this robot was tested in several historical monuments comprising scanned objects located in dark and hardly accessible areas in the upper parts of tall naves. This manuscript presents the results from two specific places: the Church of St. Anne and St. Jacob the Great in Stará Voda, and St. Maurice Church in Olomouc, both in the Czech Republic. Finally, we also compare the three-dimensional map obtained with the measurements made by the 3D laser scanner carried onboard UAV against the ones performed by a 3D terrestrial laser scanner.
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Cantieri, Alvaro, Matheus Ferraz, Guido Szekir, Marco Antônio Teixeira, José Lima, André Schneider Oliveira, and Marco Aurélio Wehrmeister. "Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture." Sensors 20, no. 21 (November 9, 2020): 6384. http://dx.doi.org/10.3390/s20216384.
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Realizing autonomous inspection, such as that of power distribution lines, through unmanned aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy and safety of the operation; however, many technical problems, such as those pertaining to the precise positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed strategy, each vehicle provides its position information to the other, which ensures a safe inspection process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating the feasibility of the proposed approach.
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Çoban, Sezer. "Autonomous performance maximization of research-based hybrid unmanned aerial vehicle." Aircraft Engineering and Aerospace Technology 92, no. 4 (April 18, 2020): 645–51. http://dx.doi.org/10.1108/aeat-08-2019-0171.
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Purpose This paper aims to investigate the autonomous performance optimization of a research-based hybrid unmanned aerial vehicle (i.e. HUAV) manufactured at Iskenderun Technical University. Design/methodology/approach To maximize the autonomous performance of this HUAV, longitudinal and lateral dynamics were initially obtained. Then, the optimum magnitudes of the autopilot system parameters were estimated by considering the vehicle’s dynamic model and autopilot parameters. Findings After determining the optimum values of the longitudinal and lateral autopilots, an improved design for the autonomously controlled (AC) HUAV was achieved in terms of real-time flight. Practical implications Simultaneous improvement of the longitudinal and lateral can be used for better HUAV operations. Originality/value In this paper, the autopilot systems (i.e. longitudinal and lateral) of an HUAV are for the first time simultaneously designed in the literature. This helps the simultaneous improvement of the longitudinal and lateral flight trajectory tracking performances.
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Tang, Sarah, and Vijay Kumar. "Autonomous Flight." Annual Review of Control, Robotics, and Autonomous Systems 1, no. 1 (May 28, 2018): 29–52. http://dx.doi.org/10.1146/annurev-control-060117-105149.
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This review surveys the current state of the art in the development of unmanned aerial vehicles, focusing on algorithms for quadrotors. Tremendous progress has been made across both industry and academia, and full vehicle autonomy is now well within reach. We begin by presenting recent successes in control, estimation, and trajectory planning that have enabled agile, high-speed flight using low-cost onboard sensors. We then examine new research trends in learning and multirobot systems and conclude with a discussion of open challenges and directions for future research.
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Kanat, Öztürk Özdemir, Ertuğrul Karatay, Oğuz Köse, and Tuğrul Oktay. "Combined active flow and flight control systems design for morphing unmanned aerial vehicles." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 14 (May 2019): 5393–402. http://dx.doi.org/10.1177/0954410019846045.
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In this article, combined active flow control system and flight control system design for morphing unmanned aerial vehicles is applied for the first time for autonomous flight performance maximization. For this purpose, longitudinal and lateral dynamics modeling of morphing unmanned aerial vehicle having active flow control manufactured in Erciyes University, Faculty of Aeronautics and Astronautics, Model Aircraft Laboratory is considered in order to obtain simulation environments. Our produced morphing unmanned aerial vehicle is called as ZANKA-II, which has a mass of 6.5 kg, range of 30 km, endurance of 0.5 h, and ceiling altitude of 6000 m. von Karman turbulence modeling is used in order to model atmospheric turbulence during flight in both longitudinal and lateral simulation environments. A stochastic optimization method called as simultaneous perturbation stochastic approximation is also applied for the first time in order to obtain optimum dimensions of morphing parameters (i.e. extension ratios of wingspan and tail span), optimum positions of blowers, and optimum magnitudes of longitudinal and lateral controllers' gains (i.e. P, I, and D gains) while minimizing cost index capturing terms for both longitudinal and lateral autonomous flight performances and there exist lower and upper constraints on all optimization variables in the literature.
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Al-Kaff, Abdulla, Ángel Madridano, Sergio Campos, Fernando García, David Martín, and Arturo de la Escalera. "Emergency Support Unmanned Aerial Vehicle for Forest Fire Surveillance." Electronics 9, no. 2 (February 4, 2020): 260. http://dx.doi.org/10.3390/electronics9020260.
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The advances in autonomous technologies and microelectronics have increased the use of Autonomous Unmanned Aerial Vehicles (UAVs) in more critical applications, such as forest fire monitoring and fighting. In addition, implementing surveillance methods that provide rich information about the fires is considered a great tool for Emergency Response Teams (ERT). From this aspect and in collaboration with Telefónica Digital España, Dronitec S.L, and Divisek Systems, this paper presents a fire monitoring system based on perception algorithms, implemented on a UAV, to perform surveillance tasks allowing the monitoring of a specific area, in which several algorithms have been implemented to perform the tasks of autonomous take-off/landing, trajectory planning, and fire monitoring. This UAV is equipped with RGB and thermal cameras, temperature sensors, and communication modules in order to provide full information about the fire and the UAV itself, sending these data to the ground station in real time. The presented work is validated by performing several flights in a real environment, and the obtained results show the efficiency and the robustness of the proposed system, against different weather conditions.
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Ibrahim, Nurul Saliha Amani, and Faiz Asraf Saparudin. "Review on path planning algorithm for unmanned aerial vehicles." Indonesian Journal of Electrical Engineering and Computer Science 24, no. 2 (November 1, 2021): 1017. http://dx.doi.org/10.11591/ijeecs.v24.i2.pp1017-1026.
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The path planning problem has been a crucial topic to be solved in autonomous vehicles. Path planning consists operations to find the route that passes through all of the points of interest in a given area. Several algorithms have been proposed and outlined in the various literature for the path planning of autonomous vehicle especially for unmanned aerial vehicles (UAV). The algorithms are not guaranteed to give full performance in each path planning cases but each one of them has their own specification which makes them suitable in sophisticated situation. This review paper evaluates several possible different path planning approaches of UAVs in terms optimal path, probabilistic completeness and computation time along with their application in specific problems.
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Melekhin, V. B., and M. V. Khachumov. "Fuzzy Model of Situational Control of the Flight Parameters of an Autonomous Unmanned Aircraft under Uncertainty Conditions." Mekhatronika, Avtomatizatsiya, Upravlenie 22, no. 12 (December 2, 2021): 650–59. http://dx.doi.org/10.17587/mau.22.650-659.
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The article outlines the main problems of automatic planning of the behavior of an autonomous unmanned aerial vehicle in unstable air conditions. It is shown that the urgency of the problem is due to the fact that an autonomous unmanned aerial vehicle independently forms and implements its flight route without support from a ground control station. There is therefore a need to develop a method for automatic control of programmed movements associated with the implementation of the route constructed by the problem solver. To solve this problem we propose an approach to regulating the parameters of the state of dynamic objects based on the principle of situational control of the goal-directed behavior of complex systems in changing environmental conditions. The expediency of choosing this control principle is due to the fact that the state of an autonomous unmanned aerial vehicle during its flight is characterized by a large number of parameters and disturbing environmental factors. In order to effectively implement this control principle, we introduce the concept of a complete problematic situation, which consists of deviations of the state parameters of an autonomous unmanned aerial vehicle from the required values during flight and disturbing environmental factors. On this basis, a fuzzy model of situational control of the state parameters of an autonomous unmanned aerial vehicle functioning in an unstable environment is developed, in which linguistic variables and functions are used to provide a generalized presentation of reference problem situations, as well as to describe the deviations of the state parameters and disturbing environmental factors. The conditions are determined under which the reference indistinctly presented problem situations generalize the actual problem situations that arise at the control object. This makes it possible to significantly reduce the number of logical-transformational decision rules in the situational control model and to promptly automatically determine effective control actions in problematic situations that ensure the effective implementation of programmed movements of an autonomous unmanned aerial vehicle under conditions of uncertainty. In conclusion, it is shown that for the implementation of control actions which are selected on a situational basis with increased requirements for the accuracy of regulation of the time-varying parameters of the control object and a significant level of possible discrepancies between their actual and specified values in conditions of uncertainty, it is advisable to use indistinctly implemented proportional, integral and differential regulation laws.
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Smirnova, M. S. "Description of technological level of development of software systems for management of unmanned aerial vehicle groupings at domestic aircraft instrument manufacturing enterprises." Issues of radio electronics, no. 10 (October 31, 2019): 85–89. http://dx.doi.org/10.21778/2218-5453-2019-10-85-89.
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The article analyzes the state of the level of development of software systems for managing groups of unmanned aerial vehicles at domestic enterprises. The dominant technological paradigm for the development of software systems for managing groups of unmanned aerial vehicles has been determined. The article compares the hardware platforms, on the basis of which the software systems of products manufactured by «NPP Radar mms» JSC, «Vega Radio Engineering Concern» JSC, «Kronstadt Technologies» JSC, «AEROKON» JSC, «Autonomous Aerospace Systems NPO LLC GeoService», provides a brief description of the capabilities of the complexes. As a hypothesis, the article discusses the possibility of using the SCRUM technological system for developing application software for software systems for managing groups of unmanned aerial vehicles. It is determined in the work that the level of microelectronic and radio-technical components used determines the possibilities that are realized in the applied functionality of software complexes for controlling the groupings of unmanned aerial vehicles.
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Ilienko, V., О. Cherednikov, S. Rudnichenko, M. Zhdanyuk, and М. Herashchenko. "CHART OF STATUS OF THE UNMANNED AVIATION COMPLEX." Наукові праці Державного науково-дослідного інституту випробувань і сертифікації озброєння та військової техніки 12, no. 3 (October 20, 2022): 34–42. http://dx.doi.org/10.37701/dndivsovt.13.2022.04.
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A scheme of interrelationships of external and internal macro- and microenvironmental factors and their influence on the states of the unmanned aerial vehicle system has been developed. It is proposed to use an approach with elements of graph theory and set theory to analyze the states of an unmanned aircraft complex. The given graph of the functioning of the man-machine system of a sample of the unmanned aircraft complex of the “micro UAS unmanned aircraft system” class sets the transitions that determine the closed cycle of the execution of a combat mission.
An example of building a structure of functional indicators of unmanned aerial vehicles with life cycle elements using graph theory for the analysis of “bottlenecks” in ensuring reliability is given. The analysis of “bottlenecks” in the control systems of unmanned aerial vehicles in the area of the ground control station – unmanned aerial vehicle is aimed at determining directions for increasing reliability, flight safety, increasing functionality, flight range and improving ergonomic characteristics.
A comprehensive analysis of the functioning and dynamics of changes in reliability indicators with relevant data for previous periods of operation will allow us to draw specific conclusions about the actual level of reliability of the UAS un manned aircraft system fleet and identify bottlenecks for further improvement and the possibility of transitioning to the use of third-generation BpAK (autonomous devices) with self-learning systems with artificial intelligence.
The theoretical rationale and the given practical recommendations should be taken into account when developing new prospective models of unmanned aerial vehicles for the Armed Forces of Ukraine in accordance with their official purpose.
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Mendes, Odilon Linhares Carvalho, and Giovanna Miceli Ronzani Borille. "Computer vision systems in unmanned aerial vehicle: a review." Journal of Mechatronics Engineering 2, no. 2 (July 30, 2019): 11. http://dx.doi.org/10.21439/jme.v2i2.26.
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Inspections in areas of difficult access or hostile to the human, pattern recognition, surveillance and monitoring, are some of the many applications in with Unmanned Aerial Vehicles (UAV), can be a solution, opening up new perspectives for the use of this technology. The navigation and the position of the UAVs can be made by autonomous method through the computational vision, which is a technology of construction of artificial systems capable of read information from images or any multidimensional data and making decisions. This work presents a review of the use of computer vision systems by UAVs, with a focus on its many applications. The main objective is to analyze the latest technologies used for the development of computer vision in UAVs, through the tools of data search, information storage and, mainly, processing and analysis of data. The researches encompasses a publication of recent works, 2011 onwards, from the Science Direct portal. For each work were analyzed the objectives, methodology and results. Based in this analysis, was made a comparison between the techniques and their challenges. From this, future outlook scenarios of UAVs using computational vision are mentioned.
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Gardner, P., and C. R. Day. "Options for Control and Navigation of Unmanned Aircraft." Journal of Navigation 45, no. 3 (September 1992): 352–68. http://dx.doi.org/10.1017/s0373463300010936.
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Whilst unmanned aircraft (UMA) can be said to encompass missiles, targets for weapon training, preprogrammed reconnaissance drones and civilian systems such as radio-controlled models used to carry cameras, for the purpose of this paper we will restrict ourselves to aircraft which are capable of sustaining autonomous flight and accepting navigation commands whilst airborne. The terms applied to unmanned aircraft are variously UMA, remotely piloted vehicle (RPV), Drone and Unmanned Aerial Vehicle (UAV).
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Cieśluk, Jakub, and Zdzisław Gosiewski. "The Image Brightness Control System Dedicated For The Autonomous Unmanned Aerial Vehicle." Journal of KONBiN 32, no. 1 (December 1, 2014): 71–82. http://dx.doi.org/10.2478/jok-2014-0032.
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Abstract The investigations of systems which allow to avoid obstacles by the unmanned aerial vehicles (UAV) are presented in the paper. The systems are designed to enable the full autonomous UAV flight in unknown, dynamic environment. Presented solutions enable to real-time control of the image brightness, without significantly disturbing the objectivity of the vision system. Single board ADSP-BF537 computer with built-in CMOS camera was used in the experimental studies. The final stage of the task is to perform fully autonomous missions of flying object with the real obstacles on its trajectory.
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Valikhanli, Orkhan. "ANALYSIS OF VARIOUS TECHNIQUES FOR ENSURING AUTONOMOUS NAVIGATION OF UNMANNED AERIAL VEHICLES." Problems of Information Technology 14, no. 1 (January 24, 2023): 8–14. http://dx.doi.org/10.25045/jpit.v14.i1.02.
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Unmanned Aerial Vehicles (UAVs) have many advantages compared to other vehicle systems. UAVs are faster, cheaper, and more flexible. However, like many other systems UAVs also need navigation. But, it’s not safe to use only one navigation system for various reasons. The recent increase in the number of cyberattacks is one of these reasons. Failure of the navigation system can cause the UAV to lose control. This, in turn, can lead to serious accidents. Therefore, this work analyzes various techniques to ensure the autonomous navigation of UAVs. Also, the advantages and disadvantages of each technique are discussed. Finally, the implementation of these techniques with Kalman filters (KF), deep learning, and machine learning is demonstrated and the results of various studies on this subject are also highlighted.
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Sheinikov, A. A., and V. A. Malkin. "Mathematical model of inertial-optical autonomous navigation complex of unmanned aerial vehicle." «System analysis and applied information science», no. 2 (June 27, 2022): 27–33. http://dx.doi.org/10.21122/2309-4923-2022-2-27-33.
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In the article considers the possibility of implementing an autonomous mode in the navigation complex of a small-sized tactical unmanned aerial vehicle, including a strapdown inertial navigation system and an onboard vision system. Due to the fact that the accuracy of such navigation systems significantly depends on changes in the background-target environment and equipment failures, it is proposed to organize automatic adaptation of the system to changes in external conditions and internal factors by controlling the operating modes and parameters of the software that implements optimal estimation algorithms. For this purpose, a model of an onboard inertial-optical autonomous navigation system has been developed in the class of discrete dynamic systems with a random change in structure.
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Sheinikau, A. A., L. A. Ivanitski, and V. A. Malkin. "Analysis of errors of the artificial horizon sensor based on vision system." «System analysis and applied information science», no. 1 (August 2, 2023): 16–23. http://dx.doi.org/10.21122/2309-4923-2023-1-16-23.
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The article discusses the features of the practical implementation of the artificial horizon sensor based on the onboard vision system. Proposed, developed on the basis of well-known applications, a variant of the algorithm for the operation of an unmanned aerial vehicle orientation video system. The problems of automatic detection and determination of the position of the horizon line on changing digital images that make up the video stream from the onboard digital camera are shown. The analysis of the factors influencing the accuracy of estimation of carrier orientation angles using the proposed system is carried out. The results of a practical study are presented, characterizing the degree of influence of the considered factors on the total error. A discrete stochastic mathematical model of an unmanned aerial vehicle orientation system based on an onboard vision system has been developed. The possibility of providing an acceptable level of accuracy of the orientation video system due to certain technical and algorithmic solutions is shown. The conclusion is made about the expediency of using this system in autonomous multisensor navigation systems for unmanned aerial vehicles.
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Kostin, A. S., and M. E. Rumyantsev. "MODELS AND METHODS FOR AUTONOMOUS NAVIGATION AND LANDING ON A MOVING PLATFORM OF A MULTIROTOR UNMANNED AERIAL SYSTEM." System analysis and logistics 2, no. 32 (June 2022): 66–72. http://dx.doi.org/10.31799/2077-5687-2022-2-66-72.
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The article considered two methods of positioning unmanned aircraft systems in space: ArUco-markers and GPS. For an unmanned aircraft system, the positioning of which is carried out using ArUco-markers, a mode of following the vehicle and landing on a mobile vehicle has been developed. In the conditions of a laboratory experiment, on the basis of the laboratory of operation of unmanned aircraft systems of the SUAI Engineering School, the operability of the developed modules was checked. To monitor the landing process, a real-time video stream was used from the onboard camera of the unmanned aircraft system and visual observation of it.
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Szywalski, Patryk, and Andrzej Waindok. "Practical Aspects of Design and Testing Unmanned Aerial Vehicles." Acta Mechanica et Automatica 14, no. 1 (March 1, 2020): 50–58. http://dx.doi.org/10.2478/ama-2020-0008.
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AbstractA design of an unmanned aerial vehicle (UAV) construction, intended for autonomous flights in a group, was presented in this article. The design assumptions, practical implementation and results of the experiments were given. Some of the frame parts were made using 3D printing technology. It not only reduces the costs but also allows for better fitting of the covers to the electronics, which additionally protects them against shocks and dirt. The most difficult task was to develop the proper navigation system. Owing to high costs of precision positioning systems, common global positioning system (GPS) receivers were used. Their disadvantage is the floating position error. The original software was also described. It controls the device, allows performing autonomous flight along a pre-determined route, analyses all parameters of the drone and sends them in a real time to the operator. The tests of the system were carried out and presented in the article, as well.
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Bohouta, Gamal. "Automatic speech recognition for unmanned aerial vehicles." Journal of the Acoustical Society of America 152, no. 4 (October 2022): A98. http://dx.doi.org/10.1121/10.0015671.
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Unmanned aerial vehicles (UAVs), also known as unmanned aerial systems (UASs), are quickly becoming a ubiquitous technology, poised to enter some key large-scale markets in the very near future. Fleets of such vehicles will be required in these large-scale deployments for commercial, industrial, and emergency response, along with the ability to efficiently control these fleets. Voice control and communication between human operators and these fleets will become imperative. This paper explores the framework for building an automatic speech recognition (ASR) use to the control of unmanned aerial vehicles (UAVs). The ARS system will be used by Aeronyde Corporation to fully-autonomous fleets with minimal human intervention. Aeronyde Corporation is working to shift and advance the current industry thinking of unmanned platforms from Remotely Piloted Aircraft (RPA) to fully-autonomous fleets with minimal human intervention. The Aeronyde Avionics package enables a single operator to control and monitor missions of many drones in real time anywhere in the world. The “1 Pilot – Many Drones” approach to aerial data collection is revolutionary for Big Data aggregation and analytics of the 4th Industrial Revolution. Multi-UAV autonomous aerial systems will transform data acquisition for many commercial applications, including: agriculture and forestry, railroad inspections, pipeline inspections, powerline inspections, windmill inspections, terrain mapping, search and rescue, firefighting and police work, and border patrol.
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Tripathi, Amit Kumar, Vijay V. Patel, and Radhakant Padhi. "Autonomous Landing of Fixed Wing Unmanned Aerial Vehicle with Reactive Collision Avoidance." IFAC-PapersOnLine 51, no. 1 (2018): 474–79. http://dx.doi.org/10.1016/j.ifacol.2018.05.080.
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AlMahamid, Fadi, and Katarina Grolinger. "Autonomous Unmanned Aerial Vehicle navigation using Reinforcement Learning: A systematic review." Engineering Applications of Artificial Intelligence 115 (October 2022): 105321. http://dx.doi.org/10.1016/j.engappai.2022.105321.
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Partheepan, Shouthiri, Farzad Sanati, and Jahan Hassan. "Autonomous Unmanned Aerial Vehicles in Bushfire Management: Challenges and Opportunities." Drones 7, no. 1 (January 10, 2023): 47. http://dx.doi.org/10.3390/drones7010047.
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The intensity and frequency of bushfires have increased significantly, destroying property and living species in recent years. Presently, unmanned aerial vehicle (UAV) technology advancements are becoming increasingly popular in bushfire management systems because of their fundamental characteristics, such as manoeuvrability, autonomy, ease of deployment, and low cost. UAVs with remote-sensing capabilities are used with artificial intelligence, machine learning, and deep-learning algorithms to detect fire regions, make predictions, make decisions, and optimize fire-monitoring tasks. Moreover, UAVs equipped with various advanced sensors, including LIDAR, visual, infrared (IR), and monocular cameras, have been used to monitor bushfires due to their potential to provide new approaches and research opportunities. This review focuses on the use of UAVs in bushfire management for fire detection, fire prediction, autonomous navigation, obstacle avoidance, and search and rescue to improve the accuracy of fire prediction and minimize their impacts on people and nature. The objective of this paper is to provide valuable information on various UAV-based bushfire management systems and machine-learning approaches to predict and effectively respond to bushfires in inaccessible areas using intelligent autonomous UAVs. This paper aims to assemble information about the use of UAVs in bushfire management and to examine the benefits and limitations of existing techniques of UAVs related to bushfire handling. However, we conclude that, despite the potential benefits of UAVs for bushfire management, there are shortcomings in accuracy, and solutions need to be optimized for effective bushfire management.
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Delavarpour, Nadia, Cengiz Koparan, Yu Zhang, Dean D. Steele, Kelvin Betitame, Sreekala G. Bajwa, and Xin Sun. "A Review of the Current Unmanned Aerial Vehicle Sprayer Applications in Precision Agriculture." Journal of the ASABE 66, no. 3 (2023): 703–21. http://dx.doi.org/10.13031/ja.15128.
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Highlights A comprehensive review of the current Unmanned Aerial Vehicle Sprayer in precision agriculture applications. Comparison of manned and unmanned aerial sprayers in precision agriculture. Latest developments of commercialized UAV sprayers available on the market. Abstract. Unmanned Aerial Vehicles (UAVs) are becoming more broadly used for improving agricultural spraying applications. However, compared with the nearly 100 years of data accumulated on manned aerial applications, UAV sprayers are relatively new, and associated technologies are in the early stages of development. The objective of this paper is to give a comprehensive review of the current UAV spraying platforms with a comparison to manned aerial sprayers and a discussion of their application, performance, and efficiency. A total of 213 peer-reviewed and non-peer-reviewed articles, extension papers, government websites, and company websites were reviewed and cited in this study. We also discuss factors that could influence the effectiveness of aerial spraying applications, such as release height, wind speed, vortex strength, and droplet size. Finally, we review the latest UAV sprayers available worldwide and present technology gaps in those platforms. We highlight areas that require improvement, particularly in autonomous navigational controllers and spraying systems. Keywords: Droplet distribution, Plant protection, Precision agriculture, Spot spraying, UAV sprayer.
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Ashokkumar, Chimpalthradi R. "Unmanned air vehicles for targeting tasks." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 5 (February 13, 2018): 1926–34. http://dx.doi.org/10.1177/0954410018755258.
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Unmanned aerial vehicle in surveillance and reconnaissance operations are well known with its flight operations confining to the lateral and longitudinal plane where the altitude is maintained constant. The objective in these operations is to have a wide field of view when camera is mounted underneath the aircraft. However, in obstacle detection algorithms as well as in weapon-target assignments by an unmanned combat air vehicle, the sensors such as cameras and radars are mounted along the X direction of the body fixed frame. The unmanned vehicles with such sensor locations are expected to offer obstacle-camera and weapon-target line-of-sight engagements. These operations by the unmanned vehicles are referred as targeting tasks. In this paper, a procedure to use unmanned vehicles as targeting systems in pitch plane is presented with respect to a fixed order controller at the inner loop. The remote pilot's inputs at the outer loop is disengaged and to mimic these inputs, various flight path angles are scheduled thus depicting autonomous characteristics. Illustrations to depict targeting tasks are provided.
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Gong, Kun, Bo Liu, Xin Xu, Yuelei Xu, Yakun He, Zhaoxiang Zhang, and Jarhinbek Rasol. "Research of an Unmanned Aerial Vehicle Autonomous Aerial Refueling Docking Method Based on Binocular Vision." Drones 7, no. 7 (June 30, 2023): 433. http://dx.doi.org/10.3390/drones7070433.
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In this paper, a visual navigation method based on binocular vision and a deep learning approach is proposed to solve the navigation problem of the unmanned aerial vehicle autonomous aerial refueling docking process. First, to meet the requirements of high accuracy and high frame rate in aerial refueling tasks, this paper proposes a single-stage lightweight drogue detection model, which greatly increases the inference speed of binocular images by introducing image alignment and depth-separable convolution and improves the feature extraction capability and scale adaptation performance of the model by using an efficient attention mechanism (ECA) and adaptive spatial feature fusion method (ASFF). Second, this paper proposes a novel method for estimating the pose of the drogue by spatial geometric modeling using optical markers, and further improves the accuracy and robustness of the algorithm by using visual reprojection. Moreover, this paper constructs a visual navigation vision simulation and semi-physical simulation experiments for the autonomous aerial refueling task, and the experimental results show the following: (1) the proposed drogue detection model has high accuracy and real-time performance, with a mean average precision (mAP) of 98.23% and a detection speed of 41.11 FPS in the embedded module; (2) the position estimation error of the proposed visual navigation algorithm is less than ±0.1 m, and the attitude estimation error of the pitch and yaw angle is less than ±0.5°; and (3) through comparison experiments with the existing advanced methods, the positioning accuracy of this method is improved by 1.18% compared with the current advanced methods.
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B B V L, Deepak, and Pritpal Singh. "A survey on design and development of an unmanned aerial vehicle (quadcopter)." International Journal of Intelligent Unmanned Systems 4, no. 2 (April 18, 2016): 70–106. http://dx.doi.org/10.1108/ijius-10-2015-0012.
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Purpose – In the previous decade, unmanned aerial vehicles (UAVs) have turned into a subject of enthusiasm for some exploration associations. UAVs are discovering applications in different regions going from military applications to activity reconnaissance. The purpose of this paper is to overview a particular sort of UAV called quadrotor or quadcopter. Design/methodology/approach – This paper includes the dynamic models of a quadrotor and the distinctive model-reliant and model-autonomous control systems and their correlation. Findings – In the present time, focus has moved to outlining autonomous quadrotors. Ultimately, the paper examines the potential applications of quadrotors and their part in multi-operators frameworks. Originality/value – This investigation deals with the review on various quadrotors, their applications and motion control strategies.
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KATAR, Oğuzhan, and Erkan DUMAN. "U-NET BASED CAR DETECTION METHOD FOR UNMANNED AERIAL VEHICLES." Mühendislik Bilimleri ve Tasarım Dergisi 10, no. 4 (December 30, 2022): 1141–54. http://dx.doi.org/10.21923/jesd.1087477.
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With the developments in computer hardware technology, studies in the fields of computer vision and artificial intelligence has accelerated. However, the number of areas where autonomous systems are used has also increased. Among these areas are unmanned aerial vehicles, which are one of the most important parameters of today's military technology. In this study, which includes two different scenarios, we aimed to improve the vision capabilities of unmanned aerial vehicles based on artificial intelligence. Within the scope of Scenario-1, the U-Net model suitable for binary semantic segmentation method was trained with the help of images taken by unmanned aerial vehicle camera. Within the scope of Scenario-2, which is designed for moving or stationary vehicle detection, the U-Net model is trained in accordance with multi-class semantic segmentation method. In all these training processes, a publicly available dataset was used. The model trained for Scenario-1 reached mean Intersection over Union (mIoU) value of 84.3%, while the model trained for Scenario-2 reached 79.7% mIoU. In this study, approaches were shared about the use of high-resolution images in model training and testing stages. Applying such studies in the field can help improve precision and reliability in arms industry.
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Pessanha Santos, Nuno, Victor Lobo, and Alexandre Bernardino. "Fixed-Wing Unmanned Aerial Vehicle 3D-Model-Based Tracking for Autonomous Landing." Drones 7, no. 4 (March 30, 2023): 243. http://dx.doi.org/10.3390/drones7040243.
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The vast increase in the available computational capability has allowed the application of Particle-Filter (PF)-based approaches for monocular 3D-model-based tracking. These filters depend on the computation of a likelihood function that is usually unavailable and can be approximated using a similarity metric. We can use temporal filtering techniques between filter iterations to achieve better results when dealing with this suboptimal approximation, which is particularly important when dealing with the Unmanned Aerial Vehicle (UAV) model symmetry. The similarity metric evaluation time is another critical concern since we usually want a real-time implementation. We explored, tested, and compared with the same dataset two different types of PFs, (i) an Unscented Bingham Filter (UBiF) and (ii) an Unscented Bingham–Gauss Filter (UBiGaF), using pose optimization in both implementations. Using optimization steps between iterations increases the convergence capability of the filter and decreases the obtained error. A new tree-based similarity metric approach is also explored based on the Distance Transform (DT), allowing a faster evaluation of the possibilities without losing accuracy. The results showed that the obtained pose estimation error is compatible with the automatic landing requirements.
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Babatunde, Daniel, Simon Pomeroy, Paul Lepper, Ben Clark, and Rebecca Walker. "Autonomous Deployment of Underwater Acoustic Monitoring Devices Using an Unmanned Aerial Vehicle: The Flying Hydrophone." Sensors 20, no. 21 (October 25, 2020): 6064. http://dx.doi.org/10.3390/s20216064.
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Unmanned aerial vehicles (UAV) are increasingly becoming a popular tool in the observation and study of marine mammals. However, the potential capabilities of these vehicles regarding autonomous operations are not being fully exploited for passive underwater acoustic monitoring in marine mammal research. This article presents results from the development of a UAV system equipped with an underwater acoustic recorder aimed at assisting with the monitoring of harbour porpoises in Special Areas of Conservation in the United Kingdom. The UAV is capable of autonomous navigation, persistent landing, take-off and automatic data acquisition at specified waypoints. The system architecture that enables autonomous UAV flight including waypoint planning and control is described. A bespoke lightweight underwater acoustic recorder (named the PorpDAQ) capable of transmitting the results of fast Fourier transforms (FFT) applied to incoming signals from a hydrophone was also designed. The system’s operation is successfully validated with a combination of outdoor experiments and indoor simulations demonstrating different UAVs capable of autonomously navigating and landing at specific waypoints while recording data in an indoor tank. Results from the recorder suggest that lightweight, relatively low-cost systems can be used in place of heavier more expensive alternatives.
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Keviczky, Tamas, and Gary J. Balas. "Software-Enabled Receding Horizon Control for Autonomous Unmanned Aerial Vehicle Guidance." Journal of Guidance, Control, and Dynamics 29, no. 3 (May 2006): 680–94. http://dx.doi.org/10.2514/1.15562.
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Nuske, Stephen, Sanjiban Choudhury, Sezal Jain, Andrew Chambers, Luke Yoder, Sebastian Scherer, Lyle Chamberlain, Hugh Cover, and Sanjiv Singh. "Autonomous Exploration and Motion Planning for an Unmanned Aerial Vehicle Navigating Rivers." Journal of Field Robotics 32, no. 8 (June 8, 2015): 1141–62. http://dx.doi.org/10.1002/rob.21596.
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Jackson, Kimberly F., Zahar Prasov, Emily C. Vincent, and Eric M. Jones. "A Heuristic Based Framework for Improving Design of Unmanned Systems by Quantifying and Assessing Operator Trust." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 60, no. 1 (September 2016): 1696–700. http://dx.doi.org/10.1177/1541931213601390.
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Operator trust in autonomous capability is a critical factor affecting the success of fielded unmanned systems. However, current means of identifying trusted system behavior do not sufficiently inform guidelines for designing an engineering solution. We present a novel Trust Assessment Framework for providing actionable and formative feedback for building an unmanned system that promotes operators’ initial adoption of and reliance on its autonomous capabilities. Based on a review of the unmanned systems literature and a series of inquiries focusing on operators of unmanned aerial vehicles, we have identified a set of Heuristics for Trusted Autonomy and behaviorally anchored Trust Assessment Scales that enable quantitative feedback for each heuristic category. The Heuristics and Scales were incorporated into a Trust Assessment Process consisting of a Heuristic Evaluation and subsequent scoring. This trust assessment methodology can be applied directly to assessing autonomous aerial systems. Extensions to other platforms and domains are being investigated.
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Paull, Liam, Carl Thibault, Amr Nagaty, Mae Seto, and Howard Li. "Sensor-Driven Area Coverage for an Autonomous Fixed-Wing Unmanned Aerial Vehicle." IEEE Transactions on Cybernetics 44, no. 9 (September 2014): 1605–18. http://dx.doi.org/10.1109/tcyb.2013.2290975.
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Gupta, Kashish, Bara Jamal Emran, and Homayoun Najjaran. "Vision-based pose estimation of a multi-rotor unmanned aerial vehicle." International Journal of Intelligent Unmanned Systems 7, no. 3 (July 1, 2019): 120–32. http://dx.doi.org/10.1108/ijius-10-2018-0030.
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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.
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Tullu, Abera, Mostafa Hassanalian, and Ho-Yon Hwang. "Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance." Drones 6, no. 4 (March 29, 2022): 89. http://dx.doi.org/10.3390/drones6040089.
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Small-scale unmanned aerial vehicles are being deployed in urban areas for missions such as ground target tracking, crime scene monitoring, and traffic management. Aerial vehicles deployed in such cluttered environments are required to have robust autonomous navigation with both target tracking and obstacle avoidance capabilities. To this end, this work presents a simple-to-design but effective steerable sensor platform and its implementation techniques for both obstacle avoidance and target tracking. The proposed platform is a 2-axis gimbal system capable of roll and pitch/yaw. The mathematical model that governs the dynamics of this platform is developed. The performance of the platform is validated through a software-in-the-loop simulation. The simulation results show that the platform can be effectively steered to all regions of interest except backward. With its design layout and mount location, the platform can engage sensors for obstacle avoidance and target tracking as per requirements. Moreover, steering the platform in any direction does not induce aerodynamic instability on the unmanned aerial vehicle in mission.
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Belmonte, Lidia María, Rafael Morales, and Antonio Fernández-Caballero. "Computer Vision in Autonomous Unmanned Aerial Vehicles—A Systematic Mapping Study." Applied Sciences 9, no. 15 (August 5, 2019): 3196. http://dx.doi.org/10.3390/app9153196.
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Personal assistant robots provide novel technological solutions in order to monitor people’s activities, helping them in their daily lives. In this sense, unmanned aerial vehicles (UAVs) can also bring forward a present and future model of assistant robots. To develop aerial assistants, it is necessary to address the issue of autonomous navigation based on visual cues. Indeed, navigating autonomously is still a challenge in which computer vision technologies tend to play an outstanding role. Thus, the design of vision systems and algorithms for autonomous UAV navigation and flight control has become a prominent research field in the last few years. In this paper, a systematic mapping study is carried out in order to obtain a general view of this subject. The study provides an extensive analysis of papers that address computer vision as regards the following autonomous UAV vision-based tasks: (1) navigation, (2) control, (3) tracking or guidance, and (4) sense-and-avoid. The works considered in the mapping study—a total of 144 papers from an initial set of 2081—have been classified under the four categories above. Moreover, type of UAV, features of the vision systems employed and validation procedures are also analyzed. The results obtained make it possible to draw conclusions about the research focuses, which UAV platforms are mostly used in each category, which vision systems are most frequently employed, and which types of tests are usually performed to validate the proposed solutions. The results of this systematic mapping study demonstrate the scientific community’s growing interest in the development of vision-based solutions for autonomous UAVs. Moreover, they will make it possible to study the feasibility and characteristics of future UAVs taking the role of personal assistants.
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Mostafa, Salama A., Mohd Sharifuddin Ahmad, Aida Mustapha, and Mazin Abed Mohammed. "Formulating layered adjustable autonomy for unmanned aerial vehicles." International Journal of Intelligent Computing and Cybernetics 10, no. 4 (November 13, 2017): 430–50. http://dx.doi.org/10.1108/ijicc-02-2017-0013.
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Purpose The purpose of this paper is to propose a layered adjustable autonomy (LAA) as a dynamically adjustable autonomy model for a multi-agent system. It is mainly used to efficiently manage humans’ and agents’ shared control of autonomous systems and maintain humans’ global control over the agents. Design/methodology/approach The authors apply the LAA model in an agent-based autonomous unmanned aerial vehicle (UAV) system. The UAV system implementation consists of two parts: software and hardware. The software part represents the controller and the cognitive, and the hardware represents the computing machinery and the actuator of the UAV system. The UAV system performs three experimental scenarios of dance, surveillance and search missions. The selected scenarios demonstrate different behaviors in order to create a suitable test plan and ensure significant results. Findings The results of the UAV system tests prove that segregating the autonomy of a system as multi-dimensional and adjustable layers enables humans and/or agents to perform actions at convenient autonomy levels. Hence, reducing the adjustable autonomy drawbacks of constraining the autonomy of the agents, increasing humans’ workload and exposing the system to disturbances. Originality/value The application of the LAA model in a UAV manifests the significance of implementing dynamic adjustable autonomy. Assessing the autonomy within three phases of agents run cycle (task-selection, actions-selection and actions-execution) is an original idea that aims to direct agents’ autonomy toward performance competency. The agents’ abilities are well exploited when an incompetent agent switches with a more competent one.
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Tan, C. H., M. Ng, D. S. B. Shaiful, S. K. H. Win, W. J. Ang, S. K. Yeung, H. B. Lim, M. N. Do, and S. Foong. "A smart unmanned aerial vehicle (UAV) based imaging system for inspection of deep hazardous tunnels." Water Practice and Technology 13, no. 4 (December 1, 2018): 991–1000. http://dx.doi.org/10.2166/wpt.2018.105.
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Abstract Inspection of deep tunnel networks is extremely challenging due to their inaccessibility, and them being an unknown and potentially hazardous environment. Unmanned aerial vehicles (UAVs) provide a viable alternative for access, and are unaffected by debris or sewer flow. However, commercial UAVs are designed for high altitude aerial imagery and are not appropriate for short-range detailed imaging of tunnel surfaces. In addition, autonomous flight is usually achieved using GPS, which is not available underground. This paper presents the design and development of a smart UAV platform, Surveyor with Intelligent Rotating Lens (SWIRL), customized for autonomous operation in tunnels. It can capture high resolution images for subsequent image processing, and defect detection and classification. An innovative rotating system enables undistorted imaging of the tunnel's inner circumference surface using a single camera. The proposed location method using limited data resulted in substantial unit weight and power consumption reductions, compared to existing systems, making more than 35 minutes of autonomous flight possible.
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Mihailescu, Cristina, and Ioan Farcasan. "Mathematical Model for Studying the Evolution of Multi-Role Unmanned Aerial Vehicle in Turbulent Atmosphere." Applied Mechanics and Materials 325-326 (June 2013): 984–89. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.984.
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The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle - UAV, used for local observations, surveillance and monitoring of interest area or as a training target for anti-aircraft systems. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using a nonlinear model, as well as a linear one for obtaining the guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and an autonomous control system. This theoretical development allows us to build the stability matrix, command matrix and the control matrix and finally to analyze the stability of autonomous UAV flight. A robust guidance system, based on Kalman filter will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analyzed. The paper is inspired by national project SAMO (Autonomous Aerial Monitoring System for Interest Areas of Great Endurance). Keywords: UAV, Simulation, Control, Guidance, Endurance, Surveillance, Monitoring, Kalman filter
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Virani, Hemali, Dahai Liu, and Dennis Vincenzi. "The Effects of Rewards on Autonomous Unmanned Aerial Vehicle (UAV) Operations Using Reinforcement Learning." Unmanned Systems 09, no. 04 (April 10, 2021): 349–60. http://dx.doi.org/10.1142/s2301385021500187.
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The effects of rewards on the ability of an autonomous UAV controlled by a Reinforcement Learning agent to accomplish a target localization task were investigated. It was shown that with an increase in the reward obtained by a learning agent upon correct detection, systems would become more risk-tolerant, efficient and have a tendency to locate targets faster with an increase in the sensor sensitivity after systems achieve steady-state performance.
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Tippannavar, Sanjay, Yashwanth S D, Rishitha R Gowda, Mohammed Zaid Salman, and Pilimgole Sudarshan Yadav. "OAOF - Obstacle Avoidance using Optical Flow Algorithm for Unmanned Aerial Vehicles." International Journal of Innovative Research in Advanced Engineering 10, no. 02 (February 28, 2023): 33–39. http://dx.doi.org/10.26562/ijirae.2023.v1002.04.
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A camera sensor may be a useful tool for a number of robotic and autonomous systems when used with MATLAB Simulink for obstacle avoidance. Using a camera sensor and MATLAB Simulink's optical flow algorithm, the obstacle avoidance system is shown in this work. For the purpose of identifying and following the motion of objects in the picture, the system analyses visual data from the camera. The motion vectors of the objects are computed using the optical flow technique, and the robot and obstacles' relative motion is calculated using those motion vectors. In order to provide safe and easy navigation, the system can recognise and avoid obstacles in real-time. The system is easily adjustable and adaptable to diverse applications thanks to the usage of MATLAB Simulink, which enables the integration of several sensor and control systems. The suggested system's findings demonstrate that using a camera sensor with the optical flow algorithm may be a useful tool for obstacle avoidance in a range of robotic and autonomous systems.
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Quirion, Nate, and Dahai Liu. "Effect of Sensor Sensitivity on Autonomous Aerial Vehicle Target Localization." Unmanned Systems 09, no. 01 (October 2, 2020): 11–21. http://dx.doi.org/10.1142/s2301385021500023.
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In recent years, Unmanned Aerial Systems (UASs) development and application have achieved remarkable growth. With the advancement of technology, UASs nowadays feature more advanced autonomous capabilities than ever before. In order to achieve autonomous behavior, intelligent systems are required to be incorporated to support system learning, control and decision-making. With these capabilities, UASs can learn from their past experiences, through interacting with the task environment to adapt their behavior to enhance their future performance. Machine learning is one of the most commonly used techniques for UASs to acquire knowledge from their experience, and research in this area is still developing. In this study, Reinforcement Learning (RL) algorithms were used on autonomous aerial systems to achieve adaptive behavior and decision-making capabilities. The effects of UAS sensor sensitivity, as modeled through Signal Detection Theory (SDT), on the ability of RL algorithms to accomplish a target localization task were investigated. Three levels of sensor sensitivity were simulated and compared to the results of the same system using a perfect sensor, with the consideration of two RL algorithms, namely, Temporal Difference (TD) and Monte Carlo (MC) methods. Target localization and identification task were used as the test bed, and a hierarchical architecture was developed with two distinct agents. Mission performance was analyzed using multiple metrics, including episodic reward and the time taken to locate all targets. Statistical analyses were carried out to detect significant differences in the comparison of steady-state behavior of different factors. Results were discussed, and future research direction was given at the end of the paper.
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Adler, Benjamin, Junhao Xiao, and Jianwei Zhang. "Autonomous Exploration of Urban Environments using Unmanned Aerial Vehicles." Journal of Field Robotics 31, no. 6 (July 10, 2014): 912–39. http://dx.doi.org/10.1002/rob.21526.
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