Modelling and simulation of a tethered UAS

Dicembrini, Emilio; Scanavino, Matteo; Dabbene, Fabrizio; Guglieri, Giorgio

doi:10.1109/icuas48674.2020.9214006

Cited by 6 publications

(3 citation statements)

References 17 publications

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“…b) Tethered Technology: Recently, tethered technology has been considered as a potential solution for ABS energy replenishment and system performance problems in ARANs [58]- [60], [135], [136]. Assisted by the tethered connections, ABSs can not only replenish their limited battery onboard via a stable power supply from ground stations but can also extend the reliability of their backhaul links [59].…”

Section: A Energy Refillsmentioning

confidence: 99%

Survey on Aerial Radio Access Networks: Toward a Comprehensive 6G Access Infrastructure

Dao

Pham

et al. 2021

Preprint

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Current network access infrastructures are characterized by heterogeneity, low latency, high throughput, and high computational capability, enabling massive concurrent connections and various services. Unfortunately, this design does not pay significant attention to mobile services in underserved areas. In this context, the use of aerial radio access networks (ARANs) is a promising strategy to complement existing terrestrial communication systems. Involving airborne components such as unmanned aerial vehicles, drones, and satellites, ARANs can quickly establish a flexible access infrastructure on demand. ARANs are expected to support the development of seamless mobile communication systems toward a comprehensive sixthgeneration (6G) global access infrastructure. This paper provides an overview of recent studies regarding ARANs in the literature. First, we investigate related work to identify areas for further exploration in terms of recent knowledge advancements and analyses. Second, we define the scope and methodology of this study. Then, we describe ARAN architecture and its fundamental features for the development of 6G networks. In particular, we analyze the system model from several perspectives, including transmission propagation, energy consumption, communication latency, and network mobility. Furthermore, we introduce technologies that enable the success of ARAN implementations in terms of energy replenishment, operational management, and data delivery. Subsequently, we discuss application scenarios envisioned for these technologies. Finally, we highlight ongoing research efforts and trends toward 6G ARANs.

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Section: A Energy Refillsmentioning

confidence: 99%

Survey on Aerial Radio Access Networks: Toward a Comprehensive 6G Access Infrastructure

Dao

Pham

et al. 2021

Preprint

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“…To address the challenge presented by wind gusts in the open marine environment, which can affect the stability of tethered systems, few works can be found on the effect of wind disturbances on the tether and the UAV's stability [19], and on the tether vibration [27]. To simplify the analysis of the tether dynamics, the system was modeled as a multi-element body in [3].…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Kourani

Daher

2021

Preprint

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This work presents the nonlinear dynamical model and motion controller of a system consisting of an unmanned aerial vehicle (UAV) that is tethered to a floating buoy in the three-dimensional (3D) space. Detailed models of the UAV, buoy, and the coupled tethered system dynamics are presented in a marine environment that includes surface-water currents and oscillating gravity waves, in addition to wind gusts. This work extends the previously modeled planar (vertical) motion of this novel robotic system to allow its free motion in all three dimensions. Furthermore, a Directional Surge Velocity Control System (DSVCS) is hereby proposed to allow both the free movement of the UAV around the buoy when the cable is slack, and the manipulation of the buoy’s surge velocity when the cable is taut. Using a spherical coordinate system centered at the buoy, the control system commands the UAV to apply forces on the buoy at specific azimuth and elevation angles via the tether, which yields a more appropriate realization of the control problem as compared to the Cartesian coordinates where the traditional x- , y- , and z -coordinates do not intuitively describe the tether’s tension and orientation. The proposed robotic system and controller offer a new method of interaction and collaboration between UAVs and marine systems from a locomotion perspective. The system is validated in a virtual high-fidelity simulation environment, which was specifically developed for this purpose, while considering various settings and wave scenarios.

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“…The same percentage of publications described the sensors used for perception of the UAV. Some solutions applied their technique only to a simulated environment and used the data available in the simulation as their main perception source [92,95,96,105,111,112,[114][115][116]124,126,127]; other publications used data purely from the Inertial Measurement Unit (IMU) module of the UAV [94,98,106] or fused IMU data with some other sensor's data such as a camera mounted on the UAV [100,110,113], GNSS [107,109,197], ultrasound sensors [97], and sensors that measured the force [99,103,125], angle [103,120,123], and length [123] of the tether. Other perception sensors used in the publications includes GNSS (without IMU data) [119], Kinect [89], and Light Detection and Ranging (LiDAR) [93].…”

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confidence: 99%

Tethered Unmanned Aerial Vehicles—A Systematic Review

et al. 2023

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In recent years, there has been a remarkable surge in the development and research of tethered aerial systems, thus reflecting a growing interest in their diverse applications. Long-term missions involving aerial vehicles present significant challenges due to the limitations of current battery solutions. Tethered vehicles can circumvent such restrictions by receiving their power from an element on the ground such as a ground station or a mobile terrestrial platform. Tethered Unmanned Aerial Vehicles (UAVs) can also be applied to load transportation achieved by a single or multiple UAVs. This paper presents a comprehensive systematic literature review, with a special focus on solutions published in the last five years (2017–2022). It emphasizes the key characteristics that are capable of grouping publications by application scope, propulsion method, energy transfer solution, perception sensors, and control techniques adopted. The search was performed in six different databases, thereby resulting in 1172 unique publications, from which 182 were considered for inclusion in the data extraction phase of this review. Among the various aircraft types, multirotors emerged as the most widely used category. We also identified significant variations in the application scope of tethered UAVs, thus leading to tailored approaches for each use case, such as the fixed-wing model being predominant in the wind generation application and the lighter-than-air aircraft in the meteorology field. Notably, the classical Proportional–Integral–Derivative (PID) control scheme emerged as the predominant control methodology across the surveyed publications. Regarding energy transfer techniques, most publications did not explicitly describe their approach. However, among those that did, high-voltage DC energy transfer emerged as the preferred solution. In summary, this systematic literature review provides valuable insights into the current state of tethered aerial systems, thereby showcasing their potential as a robust and sustainable alternative to address the challenges associated with long-duration aerial missions and load transportation.

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Modelling and simulation of a tethered UAS

Cited by 6 publications

References 17 publications

Survey on Aerial Radio Access Networks: Toward a Comprehensive 6G Access Infrastructure

Survey on Aerial Radio Access Networks: Toward a Comprehensive 6G Access Infrastructure

Three-Dimensional Modeling and Control of a Tethered UAV-Buoy System

Tethered Unmanned Aerial Vehicles—A Systematic Review

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