Networked Communication, Command, and Control of an Unmanned Aircraft System

Frew, Eric W.; Dixon, Cory; Elston, Jack; Argrow, Brian; Brown, Timothy X.

doi:10.2514/1.26558

Cited by 23 publications

(7 citation statements)

References 24 publications

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“…The SwiftPilot allows access to every control loop in the cascaded PID controller through the SwiftPilot SDK, allowing higher‐level planning algorithms to perform robust trajectory following. A provided SDK allows interfacing to the SwiftPilot through a custom net‐centric command and control architecture (Elston, Stachura, Dixon, Argrow, & Frew, ; Frew, Dixon, Elston, Argrow, & Brown, ) over the 2.4‐GHz link. The Ground Control Station (GCS) is a tablet with graphical user interface for command and control of the system.…”

Section: Hardware Descriptionmentioning

confidence: 99%

Communication‐Aware Information‐Gathering Experiments with an Unmanned Aircraft System

Stachura

Frew

2017

J. Field Robotics

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This paper presents single and multiaircraft flight experiments to assess an information‐theoretic path planning algorithm that incorporates sensing and communication to guide an unmanned aircraft. The communication is modeled with packet erasure channels for each link in a multihop mesh network. The planning objective is to maximize the mutual information between the target state and measurements received at a single base station from all aircraft. A novel unmanned aircraft system was developed to facilitate experiments with multiple unmanned aircraft utilizing multihop mesh networking. The value of communication‐aware planning was assessed through flight experiments with a single aircraft localizing a radio emitter. Additional experiments with two aircraft demonstrated and assessed the performance of the approach, showing that the improvement in sensing can be appreciable when utilizing multihop communication.

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Section: Hardware Descriptionmentioning

confidence: 99%

Communication‐Aware Information‐Gathering Experiments with an Unmanned Aircraft System

Stachura

Frew

2017

J. Field Robotics

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“…Others have considered different control algorithms for formation flying, simple cooperative rules, or centralized control of multiple vehicles mainly in simulated environments. One of the main reviewed works for multi-UAV architecture belongs to the University of Colorado at Boulder [19], that uses the Network Unmanned Aircraft System Communication, Command, and Control (NetUASC3), to make the combination of meshed network intelligence, mission-level tasking information, and automatic flight control into an integrated UAV. During their implementation they had specific results demonstrated sensor-reactive and communication reactive control, meshed network performance, atmospheric data collection, validation of radio-propagation models, and delivery of streaming video over a multihop airborne-ground network.…”

Section: B Network Communication Command and Control Of Multi-uavmentioning

confidence: 99%

“…Software for monitoring, command, and control using for exploitation of existing ad-hoc unmanned aircraft system ground mesh network. For more details readers are referred to this interesting work presented in [19].…”

Section: B Network Communication Command and Control Of Multi-uavmentioning

confidence: 99%

A Review on Fault-Tolerant Control for Unmanned Aerial Vehicles (UAVs)

Sadeghzadeh¹,

Zhang²

2011

Infotech@Aerospace 2011

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The growing number of Unmanned Aerial Vehicles (UAVs) is considerable in the last decades. Many flight test scenarios, including single and multi-vehicle formation flights, are demonstrated using different control algorithms with different test platforms. In this paper, we present a brief literature review on the development and key issues of current researches in the field of Fault-Tolerant Control (FTC) applied to UAVs. It consists of various intelligent or hierarchical control architectures for a single vehicle or a group of UAVs in order to provide potential solutions for tolerance to the faults, failures or damages in relevant to UAV components during flight. Among various UAV test-bed structures, a sample of every class of UAVs, including single-rotor, quadrotor, and fixed-wing types, are selected and briefly illustrated. Also, a short description of terms, definitions, and classifications of fault-tolerant control systems (FTCS) is presented before the main contents of review.

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“…On the other hand, localization has been addressed using triangulation [7], least square methods [8], and Bayesian filters [9][10][11][12]7]. In all of the above type of the localization approaches, the hills and mountains between an RF source and a UAV (Fig.…”

Section: Introductionmentioning

confidence: 98%

A geometrical approach for aerial cooperative obstacle mapping using RSSI observations

Dehghan

Moradi

2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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The effect of an obstacle on signal strength attenuation is the most important reason that affects the performance of distance estimation based on Received Signal Strength Indication (RSSI) observations. Consequently, in this paper, a novel approach for estimation of the location and height of an obstacle between two UAVs using RSSI observations is proposed which would help to better estimate the location of a radio frequency (RF) source. The long-term goal of developing this approach is to improve the localization of an RF source by removing the effect of obstacle(s) on the signal attenuation. This approach is based on path planning of the UAVs to estimate the tip of the obstacle between them. The change in the diffraction loss observations are used to find the Line Of Sight (LOS) positions of the UAVs. These LOS lines, constructed by connecting the UAVs in LOS situation, are the locus of the tip of the obstacle and used in an iterative geometrical approach for estimation of the location of the tip of the obstacle. Due to the uncertainty in determining the LOS position which is created because of the radius of the Fresnel zone, the motion steps of UAVs, and the non-modeled dynamics in signal attenuation, an EKF filter is used to estimate the tip of the obstacle. The approach has been simulated and the results show that the approach provides better accuracy in RF source localization compared to the basic approach which does not consider the obstacles in the localization process.

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Networked Communication, Command, and Control of an Unmanned Aircraft System

Cited by 23 publications

References 24 publications

Communication‐Aware Information‐Gathering Experiments with an Unmanned Aircraft System

Communication‐Aware Information‐Gathering Experiments with an Unmanned Aircraft System

A Review on Fault-Tolerant Control for Unmanned Aerial Vehicles (UAVs)

A geometrical approach for aerial cooperative obstacle mapping using RSSI observations

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