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Author: Steven Andrew Provencio Quintero Publisher: ISBN: 9781321349955 Category : Languages : en Pages : 215
Book Description
Small unmanned aerial vehicles (UAVs) are relatively inexpensive mobile sensing platforms capable of reliably and autonomously performing numerous tasks, including mapping, search and rescue, surveillance and tracking, and real-time monitoring. The general problem of interest that we address is that of using small, fixed-wing UAVs to perform vision-based target tracking, which entails that one or more camera-equipped UAVs is responsible for autonomously tracking a moving ground target. In the single-UAV setting, the underactuated UAV must maintain proximity and visibility of an unpredictable ground target while having a limited sensing region. We provide solutions from two different vantage points. The first regards the problem as a two-player zero-sum game and the second as a stochastic optimal control problem. The resulting control policies have been successfully field-tested, thereby verifying the efficacy of both approaches while highlighting the advantages of one approach over the other.
Author: Steven Andrew Provencio Quintero Publisher: ISBN: 9781321349955 Category : Languages : en Pages : 215
Book Description
Small unmanned aerial vehicles (UAVs) are relatively inexpensive mobile sensing platforms capable of reliably and autonomously performing numerous tasks, including mapping, search and rescue, surveillance and tracking, and real-time monitoring. The general problem of interest that we address is that of using small, fixed-wing UAVs to perform vision-based target tracking, which entails that one or more camera-equipped UAVs is responsible for autonomously tracking a moving ground target. In the single-UAV setting, the underactuated UAV must maintain proximity and visibility of an unpredictable ground target while having a limited sensing region. We provide solutions from two different vantage points. The first regards the problem as a two-player zero-sum game and the second as a stochastic optimal control problem. The resulting control policies have been successfully field-tested, thereby verifying the efficacy of both approaches while highlighting the advantages of one approach over the other.
Author: Publisher: ISBN: Category : Cameras Languages : en Pages : 41
Book Description
In the tracking of a moving ground target by small unmanned air vehicle (UAV) via camera vision, the target position and motion cannot be measured directly. Two different types of filters were assessed for their ability to estimate target motion, namely target velocity, directional heading on flat ground and distance from the UAV to target. The first filter is a nonlinear deterministic filter with stability guarantee. The second filter is based on nonlinear Kalman Filter technique. The application and performance of these two filters are presented, for simulated vision based target tracking.
Author: Kyriakos G. Vamvoudakis Publisher: Springer Nature ISBN: 3030609901 Category : Technology & Engineering Languages : en Pages : 833
Book Description
This handbook presents state-of-the-art research in reinforcement learning, focusing on its applications in the control and game theory of dynamic systems and future directions for related research and technology. The contributions gathered in this book deal with challenges faced when using learning and adaptation methods to solve academic and industrial problems, such as optimization in dynamic environments with single and multiple agents, convergence and performance analysis, and online implementation. They explore means by which these difficulties can be solved, and cover a wide range of related topics including: deep learning; artificial intelligence; applications of game theory; mixed modality learning; and multi-agent reinforcement learning. Practicing engineers and scholars in the field of machine learning, game theory, and autonomous control will find the Handbook of Reinforcement Learning and Control to be thought-provoking, instructive and informative.
Author: Boon Chong Tay Publisher: ISBN: Category : Drone aircraft Languages : en Pages : 109
Book Description
A new control law is being developed and implemented for the Vision Based Target Tracking (VBTT) system onboard a small unmanned aerial vehicle (SUAV). The new control law allows for coordinated SUAV guidance and vision-based target tracking of stationary and moving targets in the presence of atmospheric disturbances and measurements noise. The new control law is tested for its performance and stability in both the theoretical 6DOF simulation and the Hardware-in-the-Loop (HIL) simulation. Principal results show that realistic measures of performance of the control law are continuous and exhibit predictable degradation of performance with increase of target speed. The results are encouraging and comparable among theoretical predictions, actual hardware simulation results, and initial flight testing. The control law development, implementation, and trial processes and procedures are also examined and categorically documented in this thesis as future reference on the subject development, as well as for better knowledge retention, continuation and proliferation of the VBTT system.
Author: Josep M. Guerrero Publisher: John Wiley & Sons ISBN: 1118563220 Category : Technology & Engineering Languages : en Pages : 279
Book Description
In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.
Author: Mohsen Majnoon Publisher: ISBN: Category : Languages : en Pages : 0
Book Description
Control of unmanned aerial vehicles is a very active topic in research with lots of applications ranging from civilian to military. To control a UAV, its attitude is often controlled using gyroscopes, but to control its position, inertial sensors together with GPS are often used. However, obtaining accurate current position is difficult using inertial sensors because of the integration drift. GPS on the other hand is not functional in indoor applications since it cannot connect to GPS satellites. Since vision has been proved to be an inexpensive and consistent source of relative position information, vision-based control is getting more popular in UAVs recently, but then again, using vision in outdoor applications is challenging as the target can move fast and out of the vision sensor field of view. So, in order to keep the target inside the field of view, two algorithms are being developed and tested via simulation in this research. Using pan/tilt/zoom cameras or multi camera systems, the target is guaranteed to stay in vision system field of view and hence, the vision based pose estimation can provide the control system with proper relative position. Two case studies - vision-based mobile-target tracking of a quadrotor using a multi-camera vision sensor and vision-based mobile-target tracking of a tilting rotor aircraft equipped with a zooming camera - are presented in this research to show the applicability of these methods in UAV control.
Author: Yasmina Bestaoui Sebbane Publisher: CRC Press ISBN: 1351339397 Category : Computers Languages : en Pages : 396
Book Description
Intelligent Autonomy of UAVs: Advanced Missions and Future Use provides an approach to the formulation of the fundamental task typical to any mission and provides guidelines of how this task can be solved by different generic robotic problems. As such, this book aims to provide a systems engineering approach to UAV projects, discovering the real problems that need to be resolved independently of the application. After an introduction to the rapidly evolving field of aerial robotics, the book presents topics such as autonomy, mission analysis, human-UAV teams, homogeneous and heterogeneous UAV teams, and finally, UAV-UGV teams. It then covers generic robotic problems such as orienteering and coverage. The book next introduces deployment, patrolling, and foraging, while the last part of the book tackles an important application: aerial search, tracking, and surveillance. This book is meant for both scientists and practitioners. For practitioners, it presents existing solutions that are categorized according to various missions: surveillance and reconnaissance, 3D mapping, urban monitoring, precision agriculture, forestry, disaster assessment and monitoring, security, industrial plant inspection, etc. For scientists, it provides an overview of generic robotic problems such as coverage and orienteering; deployment, patrolling and foraging; search, tracking, and surveillance. The design and analysis of algorithms raise a unique combination of questions from many fields, including robotics, operational research, control theory, and computer science.
Author: Aleksander Nawrat Publisher: Springer ISBN: 3319003690 Category : Technology & Engineering Languages : en Pages : 348
Book Description
This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.
Author: Huili Yu Publisher: ISBN: Category : Electronic dissertations Languages : en Pages : 125
Book Description
Unmanned vehicle systems, specifically Unmanned Air Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) have found potential use in both military and civilian applications. For many applications, unmanned vehicle systems are required to navigate in urban environments where obstacles with various types and sizes exist. The main contribution of this research is to offer vision-based path planning, collision avoidance, and target tracking strategies for Unmanned Air and Ground vehicles operating in urban environments.
Author: Steven Andrew Provencio Quintero
Author: Steven Andrew Provencio Quintero
Author: 
Author: Kyriakos G. Vamvoudakis
Author: Boon Chong Tay
Author: Josep M. Guerrero
Author: Mohsen Majnoon
Author: Yasmina Bestaoui Sebbane
Author: Mingfeng Zhang
Author: Aleksander Nawrat
Author: Huili Yu