Author: JACK N. SANDERS-REEDPublisher:
ISBN: 9781510646148
Category :
Languages : en
Pages : 130
Book Description
Principles of Vision-Enabled Autonomous Flight
Author: JACK N. SANDERS-REEDPublisher:
ISBN: 9781510646148
Category :
Languages : en
Pages : 130
Book Description
Vision-Based Control of Agile, Autonomous Micro Air Vehicles and Small UAVs in Urban Environments
Author: Publisher:
ISBN:
Category :
Languages : en
Pages : 5
Book Description
This project investigated technologies to enable autonomous flight of agile vehicles in urban environments. Specifically, technologies were developed that related to vision-based feedback for control. The mission profile under consideration was a single vehicle carrying a video camera while flying below the rooftops of a city with no additional sensors or pre-existing map information. As such, substantial progress was made in the areas of feature-point tracking, state estimation, scene reconstruction, robustness to camera calibration, daisy-chaining navigation, mapping, path planning, and feedback characterization. An integrated approach was used that (be used on multi-disciplinary analysis for decision making and control commands. The project spiraled the maturation of technologies from theory to simulation to flight testing. The simulation relied upon a hardware-in-the-loop simulation facility that allowed the physical camera to record measurements from high-fidelity graphics and thus consider the effects of distortion and nonlinearities.
Agile Autonomy: Learning High-Speed Vision-Based Flight
Author: Antonio LoquercioPublisher: Springer Nature
ISBN: 3031272889
Category : Technology & Engineering
Languages : en
Pages : 69
Book Description
This book presents the astonishing potential of deep sensorimotor policies for agile vision-based quadrotor flight. Quadrotors are among the most agile and dynamic machines ever created. However, developing fully autonomous quadrotors that can approach or even outperform the agility of birds or human drone pilots with only onboard sensing and computing is challenging and still unsolved. Deep sensorimotor policies, generally trained in simulation, enable autonomous quadrotors to fly faster and more agile than what was possible before. While humans and birds still have the advantage over drones, the author shows the current research gaps and discusses possible future solutions.
Agile Autonomy: Learning High-Speed Vision-Based Flight
Author: Antonio LoquercioPublisher:
ISBN: 9783031272905
Category :
Languages : en
Pages : 0
Book Description
This book presents the astonishing potential of deep sensorimotor policies for agile vision-based quadrotor flight. Quadrotors are among the most agile and dynamic machines ever created. However, developing fully autonomous quadrotors that can approach or even outperform the agility of birds or human drone pilots with only onboard sensing and computing is challenging and still unsolved. Deep sensorimotor policies, generally trained in simulation, enable autonomous quadrotors to fly faster and more agile than what was possible before. While humans and birds still have the advantage over drones, the author shows the current research gaps and discusses possible future solutions.
Bio-inspired Flying Robots
Author: Jean-Christophe ZuffereyPublisher: EPFL Press
ISBN: 9781420066845
Category : Technology & Engineering
Languages : en
Pages : 226
Book Description
This book demonstrates how bio-inspiration can lead to fully autonomous flying robots without relying on external aids. Most existing aerial robots fly in open skies, far from obstacles, and rely on external beacons, mainly GPS, to localise and navigate. However, these robots are not able to fly at low altitude or in confined environments, and yet this poses absolutely no difficulty to insects. Indeed, flying insects display efficient flight control capabilities in complex environments despite their limited weight and relatively tiny brain size. From sensor suite to control strategies, the literature on flying insects is reviewed from an engineering perspective in order to extract useful principles that are then applied to the synthesis of artificial indoor flyers. Artificial evolution is also utilised to search for alternative control systems and behaviors that match the constraints of small flying robots. Specifically, the basic sensory modalities of insects, vision, gyroscopes and airflow sense, are applied to develop navigation controllers for indoor flying robots. These robots are capable of mapping sensor information onto actuator commands in real time to maintain altitude, stabilize the course and avoid obstacles. The most prominent result of this novel approach is a 10-gram microflyer capable of fully autonomous operation in an office-sized room using fly-inspired vision, inertial and airspeed sensors. This book is intended for all those interested in autonomous robotics, in academia and industry.
Biologically Inspired Vision and Control for an Autonomous Flying Vehicle
Author: Matthew A. GarrattPublisher:
ISBN:
Category : Mobile robots
Languages : en
Pages : 194
Book Description
Advances in Computational Intelligence
Author: Ildar BatyrshinPublisher: Springer
ISBN: 3030044971
Category : Computers
Languages : en
Pages : 388
Book Description
The two-volume set LNAI 11288 and 11289 constitutes the proceedings of the 17th Mexican International Conference on Artificial Intelligence, MICAI 2018, held in Guadalajara, Mexico, in October 2018. The total of 62 papers presented in these two volumes was carefully reviewed and selected from 149 submissions. The contributions are organized in topical as follows: Part I: evolutionary and nature-inspired intelligence; machine learning; fuzzy logic and uncertainty management. Part II: knowledge representation, reasoning, and optimization; natural language processing; and robotics and computer vision.
Monocular Vision-based Unmanned Aerial Vehicle Autonomous Flight for 3D Tracking, Following and Aerial Videography of Moving Target
Author: 張哲誠The Autonomous Flight
Author: Tone MagisterPublisher:
ISBN:
Category : Technology
Languages : en
Pages :
Book Description
Adaptive Estimation and Control with Application to Vision-based Autonomous Formation Flight
Author: Ramachandra Jayant SattigeriPublisher:
ISBN:
Category : Adaptive control systems
Languages : en
Pages :
Book Description
The role of vision as an additional sensing mechanism has received a lot of attention in recent years in the context of autonomous flight applications. Modern Unmanned Aerial Vehicles (UAVs) are equipped with vision sensors because of their light-weight, low-cost characteristics and also their ability to provide a rich variety of information of the environment in which the UAVs are navigating in. The problem of vision based autonomous flight is very difficult and challenging since it requires bringing together concepts from image processing and computer vision, target tracking and state estimation, and flight guidance and control. This thesis focuses on the adaptive state estimation, guidance and control problems involved in vision-based formation flight. Specifically, the thesis presents a composite adaptation approach to the partial state estimation of a class of nonlinear systems with unmodeled dynamics. In this approach, a linear time-varying Kalman filter is the nominal state estimator which is augmented by the output of an adaptive neural network (NN) that is trained with two error signals. The benefit of the proposed approach is in its faster and more accurate adaptation to the modeling errors over a conventional approach. The thesis also presents two approaches to the design of adaptive guidance and control (G & C) laws for line-of-sight formation flight. In the first approach, the guidance and autopilot systems are designed separately and then combined together by assuming time-scale separation. The second approach is based on integrating the guidance and autopilot design process. The developed G & C laws using both approaches are adaptive to unmodeled leader aircraft acceleration and to own aircraft aerodynamic uncertainties. The thesis also presents theoretical justification based on Lyapunov-like stability analysis for integrating the adaptive state estimation and adaptive G & C designs. All the developed designs are validated in nonlinear, 6DOF fixed-wing aircraft simulations. Finally, the thesis presents a decentralized coordination strategy for vision-based multiple-aircraft formation control. In this approach, each aircraft in formation regulates range from up to two nearest neighboring aircraft while simultaneously tracking nominal desired trajectories common to all aircraft and avoiding static obstacles.