GPS-optimal micro air vehicle navigation in degraded environments

Isaacs, Jason T.; Magee, Ceridwen; Subbaraman, Anantharaman; Quitin, François; Fregene, Kingsley; Teel, Andrew R.; Madhow, Upamanyu; Hespanha, João P.

doi:10.1109/acc.2014.6859336

Cited by 20 publications

(12 citation statements)

References 20 publications

(27 reference statements)

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“…Global Positioning System (GPS) ( Kaplan & Hegarty, 2006;Zogg, 2009 ) or the Satellite-based Navigation System (SNS) is considered as one of the most known approaches that is used with UGVs ( Abbott & Powell, 1999;Amini, Vaghefi, de la Garza, & Buehrer, 2014;Wei, Cappelle, & Ruichek, 2011;YA GIMLI & Varol, 2009;Yoon, Park, & Kim, 2006 ), UAVs ( Cho et al, 2007;Hui et al, 1998;Isaacs et al, 2014;Kim, 2004;Yun, Peng, & Chen, 2007 ) or even Autonomous Underwater Vehicle (AUV) ( Lee, Li, Hoang, & Lee, 2014a;Meldrum & Haddrell, 1994;Taraldsen, Reinen, & Berg, 2011 ) to provide the 3D position for navigation purposes.…”

Section: Global Positioning System (Gps)mentioning

confidence: 99%

Survey of computer vision algorithms and applications for unmanned aerial vehicles

Al-Kaff

Martín

García

et al. 2018

Expert Systems with Applications

181

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Section: Global Positioning System (Gps)mentioning

confidence: 99%

Survey of computer vision algorithms and applications for unmanned aerial vehicles

Al-Kaff

Martín

García

et al. 2018

Expert Systems with Applications

181

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“…We observe that any open set containing O is also globally recurrent. We note that the applications in [17] and [18] Proof. ⇐ Follows immediately from the definitions.…”

Section: Recurrence and Uniform Recurrencementioning

confidence: 99%

On the equivalence between global recurrence and the existence of a smooth Lyapunov function for hybrid systems

Subbaraman

Teel

2016

Systems & Control Letters

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We study a weak stability property called recurrence for a class of hybrid systems. An open set is recurrent if there are no finite escape times and every complete trajectory eventually reaches the set. Under sufficient regularity properties for the hybrid system we establish that the existence of a smooth, radially unbounded Lyapunov function that decreases along solutions outside an open, bounded set is a necessary and sufficient condition for recurrence of that set. Recurrence of open, bounded sets is robust to sufficiently small state dependent perturbations and this robustness property is crucial for establishing the existence of a Lyapunov function that is smooth. We also highlight some connections between recurrence and other well studied properties like asymptotic stability and ultimate boundedness. I. INTRODUCTION Hybrid systems are a class of dynamical systems that combine continuous-time evolution and discrete-time events. Several frameworks have been proposed in the literature for analysis of hybrid systems. We refer the reader to [1], [2] and [3] for details. Converse Lyapunov theorems are used to establish the equivalence between asymptotic stability properties and the existence of Lyapunov-like functions that satisfy certain decrease conditions along solutions. Applications of converse theorems in stabilization and robust stability analysis can be found in [4], [5] and [6]. For continuous-time systems converse theorems related to asymptotic stability are established in [6], [7] and [8]. See [9], [10] and [11] for similar results in the discrete-time case. Converse theorems for asymptotic stability of compact sets for a class of hybrid systems has been established in [12] and [13]. In this paper, we establish a converse theorem for a similar class of hybrid systems considered in [12] but for a weaker property called recurrence. Recurrence of an open, bounded set is a weak stability property that is frequently studied in the literature for stochastic systems. We refer the reader to [14], [15] and [16] for details. Loosely speaking, recurrence of an open, bounded set implies that solutions visit the set infinitely often with probability one. It is a weaker notion of stability compared to probabilistic notions of asymptotic stability but nevertheless useful in many applications. In particular, for the problem of RF-source seeking using Micro Aerial Vehicles (MAV) considered in [17] and [18], it is shown The authors are with the Electrical and

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“…One major disadvantage of these multi-antenna arrays is that antennas need to be separated by typically half a wavelength which results in large form factor, making them unsuitable for UAV base stations. As for the rotating directional antenna, researchers in [8] use the rotational movement of an antenna, equipped on a UAV, to estimate the position of the RF source. The results show that the UAV can find the RF source even under the non-line-of-sight (NLoS) scenario.…”

Section: Introductionmentioning

confidence: 99%

Virtual Multiantenna Array for Estimating the DOA of a Transmitter in UAV-assisted Networks

Cheng

Guan

Quitin

2020

2020 IEEE 31st Annual International Symposium on Personal, Indoor and Mobile Radio Communications

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A method is proposed to estimate the direction of a ground radio-frequency (RF) transmitter by using an Unmanned Aerial Vehicle (UAV) equipped with a single antenna, which is critical when considering the form factor and computational capabilities of a UAV. By considering the received signal at several locations along its trajectory, the UAV receiver implicitly creates a virtual multi-antenna array (VMA), which can estimate the direction-of-arrival (DOA) of the transmitter. The major difficulty is the Local Oscillator (LO) frequency offset that occurs between the transmitter and the UAV receiver, which adds a cumulative phase offset to the received signal at each antenna of the virtual array. Oscillators of inferior qualities will undergo severe phase and frequency drifts over time, and these LO offsets must be estimated and compensated during DOA estimation. To overcome this difficulty, we proposed two approaches by estimating the LO frequency offset jointly with the direction of the transmitter. Then we extend the Multiple Signal Classification (MUSIC) algorithm to perform multidimensional estimation (including azimuth and elevation). In this paper, the proposed VMA method is simulated and tested by considering different virtual array geometries and various LO qualities. Simulation results prove the feasibility of our proposed method, and the median estimation error for azimuth and elevation are below 9 • and 12 • on average, even with low-quality oscillators.

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GPS-optimal micro air vehicle navigation in degraded environments

Cited by 20 publications

References 20 publications

Survey of computer vision algorithms and applications for unmanned aerial vehicles

Survey of computer vision algorithms and applications for unmanned aerial vehicles

On the equivalence between global recurrence and the existence of a smooth Lyapunov function for hybrid systems

Virtual Multiantenna Array for Estimating the DOA of a Transmitter in UAV-assisted Networks

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