On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries

He, Ruijie; Bachrach, Abraham; Achtelik, Michael; Geramifard, Alborz; Gurdan, Daniel; Prentice, Samuel; Stumpf, Jan; Roy, Nicholas

doi:10.1177/0278364909348805

Cited by 34 publications

(1 citation statement)

References 21 publications

(27 reference statements)

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“…When a dynamic and mathematical model of the drone has been obtained, optimal flight paths can be defined by means of high or medium-level programming languages designed according to the user's needs [50]. There are currently several techniques and models for planning optimal trajectories with minimum energy consumption, smooth transitions between states and minimization criteria, establishing initial conditions for the position, speed and acceleration of the path to follow [51]. These parameters are required to avoid obstacles.…”

Section: Trajectory and Mission Planning For Uasmentioning

confidence: 99%

Use of Unmanned Aircraft Systems for Bridge Inspection: A Review

Rodriguez

Granados

Vidales

2021

DYNA

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This review describes the use of Unmanned Aircraft Systems (UAS) for bridge inspection, with an emphasis on Multi-rotor UAS. It depicts the different levels of automation and autonomy during UAS operation and what levels are achieved during inspections. A description of the payload of UAS consisting of the equipment required to acquire data and images is included. It also contains a compendium of the techniques used to create models from images in order to detect failures and perform Structural Health Monitoring (SHM) through techniques, such as: 3D reconstruction, infrared thermography, Structure From Motion (SFM), Convolutional Neural Network (CNN) and others. The software required to apply the mentioned techniques is also mentioned. It subsequently explains the generation of mathematical models to characterize the multirotor and generate efficient trajectories. Finally, the review concludes by describing the operational limitations of UAS and future challenges.

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Section: Trajectory and Mission Planning For Uasmentioning

confidence: 99%

Use of Unmanned Aircraft Systems for Bridge Inspection: A Review

Rodriguez

Granados

Vidales

2021

DYNA

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RANGE–Robust autonomous navigation in GPS‐denied environments

Bachrach

Prentice

et al. 2011

Journal of Field Robotics

Self Cite

229

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This paper addresses the problem of autonomous navigation of a micro air vehicle (MAV) in GPS-denied environments. We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range finder sensor, to autonomously explore and map unstructured and unknown environments. The key challenge for enabling GPS-denied flight of a MAV is that the system must be able to estimate its position and velocity by sensing unknown environmental structure with sufficient accuracy and low enough latency to stably control the vehicle. Our solution overcomes this challenge in the face of MAV payload limitations imposed on sensing, computational, and communication resources. We first analyze the requirements to achieve fully autonomous quadrotor helicopter flight in GPS-denied areas, highlighting the differences between ground and air robots that make it difficult to use algorithms developed for ground robots. We report on experiments that validate our solutions to key challenges, namely a multilevel sensing and control hierarchy that incorporates a high-speed laser scan-matching algorithm, data fusion filter, high-level simultaneous localization and mapping, and a goal-directed exploration module. These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large-scale unknown environments, both indoors and in the urban canyon. The system was further validated in the field by our winning entry in the 2009 International Aerial Robotics Competition, which required the quadrotor to autonomously enter a hazardous unknown environment through a window, explore the indoor structure without GPS, and search for a visual target. C 2011 Wiley Periodicals, Inc.

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Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems

Kendoul

2012

Journal of Field Robotics

567

217

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Recently, there has been growing interest in developing unmanned aircraft systems (UAS) with advanced onboard autonomous capabilities. This paper describes the current state of the art in autonomous rotorcraft UAS (RUAS) and provides a detailed literature review of the last two decades of active research on RUAS. Three functional technology areas are identified as the core components of an autonomous RUAS. Guidance, navigation, and control (GNC) have received much attention from the research community, and have dominated the UAS literature from the nineties until now. This paper first presents the main research groups involved in the development of GNC systems for RUAS. Then it describes the development of a framework that provides standard definitions and metrics characterizing and measuring the autonomy level of a RUAS using GNC aspects. This framework is intended to facilitate the understanding and the organization of this survey paper, but it can also serve as a common reference for the UAS community. The main objective of this paper is to present a comprehensive survey of RUAS research that captures all seminal works and milestones in each GNC area, with a particular focus on practical methods and technologies that have been demonstrated in flight tests. These algorithms and systems have been classified into different categories and classes based on the autonomy level they provide and the algorithmic approach used. Finally, the paper discusses the RUAS literature in general and highlights challenges that need to be addressed in developing autonomous systems for unmanned rotorcraft. © 2012 Wiley Periodicals, Inc.

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On the Design and Use of a Micro Air Vehicle to Track and Avoid Adversaries

Cited by 34 publications

References 21 publications

Use of Unmanned Aircraft Systems for Bridge Inspection: A Review

Use of Unmanned Aircraft Systems for Bridge Inspection: A Review

RANGE–Robust autonomous navigation in GPS‐denied environments

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems

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