A Modeling, Simulation and Control Framework for Small Unmanned Multicopter Platforms in Urban Environments

Ippolito, Corey A.; Hening, Sebastian; Sankararaman, Shankar; Stepanyan, Vahram

doi:10.2514/6.2018-1915

Cited by 12 publications

(6 citation statements)

References 15 publications

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“…The Reflection simulation architecture simulates the downtown Indianapolis as shown in figure 9b. The urban landscape rendering and collision model was created for large section of downtown Indianapolis, see 20 for details.Figure 9b shows the screen shot from Reflection software and the UTM approved volume for the given list of way-points.…”

Section: Simulation Resultsmentioning

confidence: 99%

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Chakrabarty

Stepanyan

Krishnakumar

et al. 2019

AIAA Scitech 2019 Forum

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NASA's UAS Traffic management (UTM) -TCL-4 focuses on safely enabling large scale small UAS operations in low altitude airspace in dense urban environment. This paper presents an operational architecture of an autonomous unmanned aerial vehicle operating in TCL4 . An on-line path planning scheme is proposed which can effectively plan for feasible paths in real time with TCL-4 constraints. The real time path planner avoids other obstacles and other UAVs flying in the shared airspace. An end-to-end system is designed and tested in high fidelity Reflection simulation architecture which demonstrates the feasibility of the approach.

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Section: Simulation Resultsmentioning

confidence: 99%

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Chakrabarty

Stepanyan

Krishnakumar

et al. 2019

AIAA Scitech 2019 Forum

Self Cite

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“…The Reflection simulation architecture simulates the downtown Indianapolis as shown in figure 10b. The urban landscape rendering and collision model was created for large section of downtown Indianapolis, see 23 for details.…”

Section: Mission Concepts and Use-casesmentioning

confidence: 99%

Vehicle to Vehicle (V2V) communication for Collision avoidance for Multi-copters flying in UTM –TCL4

Chakrabarty

Ippolito

Baculi

et al. 2019

AIAA Scitech 2019 Forum

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NASA's UAS Traffic management (UTM) research initiative is aimed at identifying requirements for safe autonomous operations of UAS operating in dense urban environments. For complete autonomous operations vehicle to vehicle (V2V) communications has been identified as an essential tool. In this paper we simulate a complete urban operations in an high fidelity simulation environment. We design a V2V communication protocol and all the vehicles participating communicate over this system. We show how V2V communication can be used for finding feasible, collision-free paths for multi agent systems. Different collision avoidance schemes are explored and an end to end simulation study shows the use of V2V communication for UTM TCL4 deployment.

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“…Eqn. 12 shows the expressions for the current, 22 where µ, α M , β M , R A , and k t are motor specific parameters, and ω is the motor rotational speed.…”

Section: B Energy Consumption Modelsmentioning

confidence: 99%

“…5 shows a sample reception probability at various communication densities when the message size is 200 bytes. For on-board sensors, researchers are testing and studying devices like Light Detection and Ranging (LIDAR) 22 and Echodyne radar. 42 In the simulator, these sensors are assumed to follow Gaussian or Markov probability models for measurements like azimuth angle, elevation angle, detected distance, positions, and velocities with experimentally validated mean, standard deviations, and tau (if applicable).…”

Section: Collision Avoidance Modelsmentioning

confidence: 99%

Fe³: An Evaluation Tool for Low-Altitude Air Traffic Operations

Xue

Rios

Silva

et al. 2018

2018 Aviation Technology, Integration, and Operations Conference

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The concepts of unmanned aircraft system traffic management (UTM) and urban air mobility (UAM) introduce high-density operations in low-altitude airspace and will change the paradigm of the traditional air traffic system. The Flexible engine for Fast-time evaluation of Flight environments (Fe 3) provides the capability of statistically analyzing highdensity, high-fidelity, and low-altitude traffic system without conducting infeasible and cost-prohibitive flight tests that involve a large volume of aerial vehicles. With this simulation capability, stakeholders can study the impacts of critical factors, define requirements, policies, and protocols needed to support a safe yet efficient traffic system, assess operational risks, and optimize flight schedules. This work provides an introduction to this simulation tool including its architecture and various models involved. Its performance and applications in high density air traffic operations are also presented.

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A Modeling, Simulation and Control Framework for Small Unmanned Multicopter Platforms in Urban Environments

Cited by 12 publications

References 15 publications

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Vehicle to Vehicle (V2V) communication for Collision avoidance for Multi-copters flying in UTM –TCL4

Fe³: An Evaluation Tool for Low-Altitude Air Traffic Operations

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A Modeling, Simulation and Control Framework for Small Unmanned Multicopter Platforms in Urban Environments

Cited by 12 publications

References 15 publications

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Real-Time Path Planning for Multi-copters flying in UTM -TCL4

Vehicle to Vehicle (V2V) communication for Collision avoidance for Multi-copters flying in UTM –TCL4

Fe3: An Evaluation Tool for Low-Altitude Air Traffic Operations

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Product

Resources

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Fe³: An Evaluation Tool for Low-Altitude Air Traffic Operations