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UWB based Relative Navigation and Leader-Follower Formation for UAVs using Maneuvering of a Follower |
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Seongbong Lee, Cheonman Park(Hanseo University, Korea), Sang-yeoun Lee, Ji Hun Jeon(Intelligent Convergence Research Laboratory, Korea), Dongjin Lee(Hanseo University, Korea) |
| In this paper, we propose UWB based leader-follower formation flight method. For leader-follower formation flight, relative position between leader and follower is required. To estimate relative position, we use relative velocity based on reference frame. It assumes that velocities of UAVs are estimated each other using inertial measurement unit and shared through ad-hoc network and change of relative position is estimated by numerically integrating relative velocity. using set of change of relative position and relative distance, we estimate relative position. Proposed method is validated through simulation. |
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Wind Tunnel Studies on Autonomous VTOL UAV with Morphing Technologies |
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Raja Samikkannu, Shanmugam P, Dwarakanathan D(CSIR-NAL, India), Parammasivam K M(MIT campus, Anna university, India) |
| CSIR-NAL has designed VTOL winged UAV to address hybrid unmanned vehicle requirements. The hybrid UAV’s aerodynamics and propulsion characteristics have been validated through wind tunnel test and to achieve better flight performance, a morphing wing technology was developed using multi-axis robotic concept. The multi-axis controller was realized for the morphed wing mechanism of VTOL UAV through LMA and PID controller. This approach generates a simple model with a high degree of accuracy, which can be easily integrated on to the wind tunnel tested hybrid UAV to develop all terrain high performance VTOL vehicles. |
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ROLAND: Robust Landing of UAV on Moving Platform using Object Detection and UWB based Extended Kalman Filter |
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Eungchang Mason Lee, Chanyoung Kim, Junho Choi, Jinwoo Jeon(KAIST, Korea), Seoktae Kim(Kepco Electric Power Corporation, Korea), Hyun Myung(KAIST, Korea) |
| In this paper, to robustly estimate the relative pose of the moving platform and successfully land on it, we propose a novel robust landing system of the UAV. A neural network based object detection is used to recognize the landing site without a special tag or marker, and an UWB sensor is adopted to compensate for the limited field of view of the camera. The EKF for estimating the relative position of the moving platform by fusing the information obtained from various sensors is developed. Additionally, a robust autonomous landing controller is also designed. The performance of the proposed method is verified by the simulation of the UAV and the moving platform. |
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ROSSi - A Graphical Programming Interface for ROS 2 |
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Constantin Wanninger, Sebastian Rossi, Martin Schoerner, Alwin Hoffmann, Alexander Poeppel, Christian Eymueller, Wolfgang Reif(University of Augsburg, Germany) |
| The Robot Operating System (ROS) offers developers a large number of ready-made packages for developing
robot programs. The multitude of packages and the different interfaces or adapters is also the reason why ROS projects
often tend to become confusing. Concepts of model-driven software development using a domain-specific modeling
language could counteract this and at the same time speed up the development process of such projects. This is investigated
in this paper by transferring the core concepts from ROS 2 into a graphical programming interface. |
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Vision-based Autonomous Disinfection of High Touch Surfaces in Indoor Environments |
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Sean Roelofs, Benoit Landry, Myra Kurosu Jalil, Adrian Martin, Saisneha Koppaka, Sindy K. Y. Tang, Marco Pavone(Stanford University, United States) |
| In this work we present an autonomous UAV capable of effectively disinfecting surfaces. To our knowledge, this is the smallest untethered UAV ever built with both full autonomy and spraying capabilities, allowing it to operate in confined indoor settings, and the first autonomous UAV to specifically target high touch surfaces on an individual basis with spray disinfectant, resulting in more efficient use of disinfectant. |
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Hovering Control of a Quadrotor System by a Reduced-order Observer-based Output Feedback Controller |
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Ji-Sun Park, Sang-Young Oh, Ho-Lim Choi(Dong-A University, Korea) |
| In this paper, we consider a hovering control problem for a quadrotor system by output feedback. We present a reduced-order observer-based output feedback controller. We show that the faster stabilization of system states by using our reduced-order observer can be achieved over the traditional full-order observer. Comparison simulation results are given to illustrate the improvement of the proposed controller over the existing result. |
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