Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance

Zhang, Jian; Huang, Hailong

doi:10.3390/drones5030098

Cited by 20 publications

(9 citation statements)

References 40 publications

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“…Due to a one-to-one correspondence u i ↔ (q i , r i ) in Remark 2.1 in [31], the vector control input u i can be replaced by the pitching q i and yawing r i rates. In fact, (2) is a 3D extension of the standard Dubins-vehicle model of an aircraft or boat in a plane [34][35][36][37].…”

Section: Problem Of Sweep Coverage Of An Isosurfacementioning

confidence: 99%

Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries

Matveev

Semakova

2022

Drones

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A team of non-holonomic constant-speed under-actuated unmanned aerial vehicles (UAVs) with lower-limited turning radii travel in 3D. The space hosts an unknown and unpredictably varying scalar environmental field. A space direction is given; this direction and the coordinate along it are conditionally termed as the “vertical” and “altitude”, respectively. All UAVs should arrive at the moving and deforming isosurface where the field assumes a given value. They also should evenly distribute themselves over a pre-specified range of the “altitudes” and repeatedly encircle the entirety of the isosurface while remaining on it, each at its own altitude. Every UAV measures only the field intensity at the current location and both the Euclidean and altitudinal distances to the objects (including the top and bottom of the altitudinal range) within a finite range of visibility and has access to its own speed and the vertical direction. The UAVs carry no communication facilities, are anonymous to one another, and cannot play distinct roles in the team. A distributed control law is presented that solves this mission under minimal and partly inevitable assumptions. This law is justified by a mathematically rigorous global convergence result; computer simulation tests confirm its performance.

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Section: Problem Of Sweep Coverage Of An Isosurfacementioning

confidence: 99%

Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries

Matveev

Semakova

2022

Drones

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“…For instance, wildfire detection and pollution mitigation applications scenarios are involved in this context. In addition, several works investigate indoor/outdoor environment inspection which aims to track multiple static or mobile targets [ 35 ]. Recently, UAVs were included into wireless sensor networks (WSNs) to provide sensor nodes clustering and act as mobile base stations for data gathering.…”

Section: Introductionmentioning

confidence: 99%

A Systematic Literature Review of Blockchain Technology for Internet of Drones Security

et al. 2022

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Internet of Drones (IoD) plays a crucial role in the future Internet of Things due to its important features such as low cost, high flexibility, and mobility. The number of IoD applications is drastically increasing from military to civilian fields. Nevertheless, drones are resource-constrained and highly vulnerable to several security threats and attacks. The use of blockchain technology for securing IoD networks has gained growing attention. To this end, this paper presents a systematic literature review to analyze the current research area regarding the security of IoD environments using the emerging blockchain technology. Forty relevant studies were selected from 129 published articles to answer the identified research questions. The selected studies were classified into three main classes based on blockchain type. Furthermore, a comparison of the reviewed articles in terms of different factors is provided. The research findings show that the blockchain can guarantee fundamental security requirements such as authentication, privacy-preserving, confidentiality, integrity, and access control. Finally, open issues and challenges related to the combination of blockchain and IoD technologies are discussed.

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“…A multi-rotor platform is a rotary wing Unmanned Aerial Vehicle (UAV), generally consisting of a rigid body, actuated by a set of spinning propellers, whose configuration determines the vehicle actuation properties [ 1 ]. In recent decades marked by the advent of Industry 4.0, smart homes, and Internet of Things (IoT), multi-rotor UAVs have emerged as a leading and promising technology in civil, rural, and industrial contexts [ 2 , 3 , 4 , 5 ], where they are used in several applications, ranging from traditional surveillance and monitoring tasks [ 6 , 7 ] to modern contact-aware inspection and manipulation [ 8 , 9 ].…”

Section: Introductionmentioning

confidence: 99%

Indoor Visual-Based Localization System for Multi-Rotor UAVs

Bertoni

Michieletto

Oboe

et al. 2022

Sensors

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Industry 4.0, smart homes, and the Internet of Things are boosting the employment of autonomous aerial vehicles in indoor environments, where localization is still challenging, especially in the case of close and cluttered areas. In this paper, we propose a Visual Inertial Odometry localization method based on fiducial markers. Our approach enables multi-rotor aerial vehicle navigation in indoor environments and tackles the most challenging aspects of image-based indoor localization. In particular, we focus on a proper and continuous pose estimation, working from take-off to landing, at several different flying altitudes. With this aim, we designed a map of fiducial markers that produces results that are both dense and heterogeneous. Narrowly placed tags lead to minimal information loss during rapid aerial movements while four different classes of marker size provide consistency when the camera zooms in or out according to the vehicle distance from the ground. We have validated our approach by comparing the output of the localization algorithm with the ground-truth information collected through an optoelectronic motion capture system, using two different platforms in different flying conditions. The results show that error mean and standard deviation can remain constantly lower than 0,11m, so not degrading when the aerial vehicle increases its altitude and, therefore, strongly improving similar state-of-the-art solutions.

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Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance

Cited by 20 publications

References 40 publications

Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries

Distributed 3D Navigation of Swarms of Non-Holonomic UAVs for Coverage of Unsteady Environmental Boundaries

A Systematic Literature Review of Blockchain Technology for Internet of Drones Security

Indoor Visual-Based Localization System for Multi-Rotor UAVs

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