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  Subjects -> AERONAUTICS AND SPACE FLIGHT (Total: 124 journals)
Showing 1 - 30 of 30 Journals sorted alphabetically
Acta Astronautica     Hybrid Journal   (Followers: 220)
Advances in Aerospace Engineering     Open Access   (Followers: 74)
Advances in Aerospace Science and Technology     Open Access   (Followers: 14)
Advances in Astronautics Science and Technology     Hybrid Journal   (Followers: 2)
Advances in Space Research     Hybrid Journal   (Followers: 296)
Aeronautical Journal, The     Hybrid Journal   (Followers: 9)
Aerospace     Open Access   (Followers: 64)
Aerospace Medicine and Human Performance     Full-text available via subscription   (Followers: 22)
Aerospace Science and Technology     Hybrid Journal   (Followers: 308)
Aerospace Systems     Hybrid Journal   (Followers: 10)
Aerospace technic and technology     Open Access   (Followers: 7)
Aerotecnica Missili & Spazio : Journal of Aerospace Science, Technologies & Systems     Hybrid Journal   (Followers: 6)
AIAA Journal     Hybrid Journal   (Followers: 1003)
Air Medical Journal     Hybrid Journal   (Followers: 6)
Aircraft Engineering and Aerospace Technology     Hybrid Journal   (Followers: 139)
Artificial Satellites     Open Access   (Followers: 21)
ASTRA Proceedings     Open Access   (Followers: 3)
Astrodynamics     Hybrid Journal   (Followers: 4)
Aviation     Open Access   (Followers: 12)
Aviation in Focus - Journal of Aeronautical Sciences     Open Access   (Followers: 7)
Aviation Psychology and Applied Human Factors     Hybrid Journal   (Followers: 23)
Aviation Week     Full-text available via subscription   (Followers: 412)
Canadian Aeronautics and Space Journal     Full-text available via subscription   (Followers: 31)
CEAS Aeronautical Journal     Hybrid Journal   (Followers: 30)
Chinese Journal of Aeronautics     Open Access   (Followers: 19)
Ciencia y Poder Aéreo     Open Access   (Followers: 3)
Civil Aviation High Technologies     Open Access   (Followers: 6)
Control Systems     Hybrid Journal   (Followers: 236)
Cosmic Research     Hybrid Journal   (Followers: 5)
Egyptian Journal of Remote Sensing and Space Science     Open Access   (Followers: 25)
Fatigue of Aircraft Structures     Open Access   (Followers: 21)
Frontiers in Aerospace Engineering     Open Access   (Followers: 20)
Frontiers in Astronomy and Space Sciences     Open Access   (Followers: 15)
Gyroscopy and Navigation     Hybrid Journal   (Followers: 178)
IEEE Aerospace and Electronic Systems Magazine     Full-text available via subscription   (Followers: 252)
IEEE Journal on Miniaturization for Air and Space Systems     Hybrid Journal   (Followers: 2)
IEEE Transactions on Aerospace and Electronic Systems     Hybrid Journal   (Followers: 281)
IEEE Transactions on Circuits and Systems I: Regular Papers     Hybrid Journal   (Followers: 43)
International Journal of Aeroacoustics     Hybrid Journal   (Followers: 37)
International Journal of Aerodynamics     Hybrid Journal   (Followers: 46)
International Journal of Aeronautical and Space Sciences     Hybrid Journal   (Followers: 4)
International Journal of Aerospace Engineering     Open Access   (Followers: 86)
International Journal of Aerospace Innovations     Full-text available via subscription   (Followers: 23)
International Journal of Aerospace Psychology     Hybrid Journal   (Followers: 22)
International Journal of Aerospace Sciences     Open Access   (Followers: 36)
International Journal of Applied Geospatial Research     Hybrid Journal   (Followers: 7)
International Journal of Aviation Management     Hybrid Journal   (Followers: 5)
International Journal of Aviation Technology, Engineering and Management     Full-text available via subscription   (Followers: 8)
International Journal of Aviation, Aeronautics, and Aerospace     Open Access   (Followers: 9)
International Journal of Crashworthiness     Hybrid Journal   (Followers: 10)
International Journal of Micro Air Vehicles     Open Access   (Followers: 11)
International Journal of Satellite Communications Policy and Management     Hybrid Journal   (Followers: 15)
International Journal of Space Science and Engineering     Hybrid Journal   (Followers: 13)
International Journal of Space Structures     Full-text available via subscription   (Followers: 19)
International Journal of Space Technology Management and Innovation     Full-text available via subscription   (Followers: 11)
International Journal of Sustainable Aviation     Hybrid Journal   (Followers: 5)
Investigación Pecuaria     Open Access   (Followers: 1)
Journal of Aerodynamics     Open Access   (Followers: 27)
Journal of Aeronautical Materials     Open Access   (Followers: 10)
Journal of Aerospace Engineering     Full-text available via subscription   (Followers: 66)
Journal of Aerospace Engineering & Technology     Full-text available via subscription   (Followers: 22)
Journal of Aerospace Information Systems     Hybrid Journal   (Followers: 27)
Journal of Aerospace Information Systems     Hybrid Journal   (Followers: 57)
Journal of Aerospace Technology and Management     Open Access   (Followers: 10)
Journal of Aircraft     Hybrid Journal   (Followers: 264)
Journal of Aircraft and Spacecraft Technology     Open Access   (Followers: 15)
Journal of Airline and Airport Management     Open Access   (Followers: 11)
Journal of Astrobiology & Outreach     Open Access   (Followers: 5)
Journal of Aviation Technology and Engineering     Open Access   (Followers: 10)
Journal of Aviation/Aerospace Education & Research     Open Access   (Followers: 2)
Journal of Engineering and Technological Sciences     Open Access   (Followers: 2)
Journal of Guidance, Control, and Dynamics     Hybrid Journal   (Followers: 165)
Journal of KONBiN     Open Access   (Followers: 4)
Journal of Navigation     Hybrid Journal   (Followers: 178)
Journal of Propulsion and Power     Hybrid Journal   (Followers: 571)
Journal of Space Safety Engineering     Hybrid Journal   (Followers: 8)
Journal of Space Weather and Space Climate     Open Access   (Followers: 30)
Journal of Spacecraft and Rockets     Hybrid Journal   (Followers: 704)
Journal of Spatial Science     Hybrid Journal   (Followers: 4)
Journal of the American Helicopter Society     Full-text available via subscription   (Followers: 9)
Journal of the Astronautical Sciences     Hybrid Journal   (Followers: 11)
Journal of the Australasian Society of Aerospace Medicine     Open Access   (Followers: 3)
Journal of Wind Engineering and Industrial Aerodynamics     Hybrid Journal   (Followers: 21)
Life Sciences in Space Research     Hybrid Journal   (Followers: 5)
MAD - Magazine of Aviation Development     Open Access   (Followers: 3)
Mekanika : Jurnal Teknik Mesin i     Open Access  
Microgravity Science and Technology     Hybrid Journal   (Followers: 3)
New Space     Hybrid Journal   (Followers: 6)
Nonlinear Dynamics     Hybrid Journal   (Followers: 19)
npj Microgravity     Open Access   (Followers: 3)
Open Aerospace Engineering Journal     Open Access   (Followers: 4)
Perspectives of Earth and Space Scientists i     Open Access   (Followers: 1)
Population Space and Place     Hybrid Journal   (Followers: 10)
Problemy Mechatroniki. Uzbrojenie, lotnictwo, inżynieria bezpieczeństwa / Problems of Mechatronics. Armament, Aviation, Safety Engineering     Open Access   (Followers: 3)
Proceedings of the Human Factors and Ergonomics Society Annual Meeting     Hybrid Journal   (Followers: 16)
Proceedings of the Institution of Mechanical Engineers Part G: Journal of Aerospace Engineering     Hybrid Journal   (Followers: 42)
Progress in Aerospace Sciences     Full-text available via subscription   (Followers: 82)
Propulsion and Power Research     Open Access   (Followers: 89)
REACH - Reviews in Human Space Exploration     Full-text available via subscription   (Followers: 5)
Research & Reviews : Journal of Space Science & Technology     Full-text available via subscription   (Followers: 20)
RocketSTEM     Free   (Followers: 5)
Russian Aeronautics (Iz VUZ)     Hybrid Journal   (Followers: 23)
Science and Education : Scientific Publication of BMSTU     Open Access   (Followers: 1)
Space and Polity     Hybrid Journal   (Followers: 6)
Space Policy     Hybrid Journal   (Followers: 30)
Space Research Today     Full-text available via subscription   (Followers: 43)
Space Safety Magazine     Free   (Followers: 50)
Space Science International     Open Access   (Followers: 118)
Space Science Reviews     Hybrid Journal   (Followers: 92)
SpaceNews     Free   (Followers: 779)
Spatial Information Research     Hybrid Journal   (Followers: 1)
Transactions on Aerospace Research     Open Access   (Followers: 1)
Transport and Aerospace Engineering     Open Access   (Followers: 4)
Transportmetrica A : Transport Science     Hybrid Journal   (Followers: 7)
Unmanned Systems     Hybrid Journal   (Followers: 4)
Xibei Gongye Daxue Xuebao / Journal of Northwestern Polytechnical University     Open Access  
Вісник Національного Авіаційного Університету     Open Access   (Followers: 1)

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Journal Cover
Unmanned Systems
Number of Followers: 4  
 
  Hybrid Journal Hybrid journal (It can contain Open Access articles)
ISSN (Print) 2301-3850 - ISSN (Online) 2301-3869
Published by World Scientific Homepage  [120 journals]
  • Warehouse Inspection with an Autonomous Micro Air Vehicle

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      Authors: Jose Martinez-Carranza, Leticia Oyuki Rojas-Perez
      Pages: 1 - 14
      Abstract: Unmanned Systems, Ahead of Print.
      In this work, we present an approach to address the problem of warehouse inspection using a MicroAir Vehicle (MAV) that performs autonomous flight by following a set of waypoints in a GPS-denied environment. During the navigation, a second onboard camera is used to observe the inspection area where it is expected to observe QR codes attached to packages placed on shelves. To this end, we use a metric monocular simultaneous localization And Mapping (SLAM) system to estimate the MAVs position in metres, avoiding the need for an external positioning system. The onboard computer executes the detection and decoding of QR codes and the SLAM system. The MAV can also communicate with a Ground Control Station (GCS) to display telemetry, the MAVs position, images from the inspection camera with detected QR codes, and a list of the found packages. This approach was used to compete in the indoors competition of the International Micro Air Vehicle Competition (IMAV) 2019, where we received the special award: Best Flight Performance.
      Citation: Unmanned Systems
      PubDate: 2022-05-20T07:00:00Z
      DOI: 10.1142/S2301385022410011
       
  • Targets-Attackers-Defenders Game via Pairwise Outcomes

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      Authors: Li Liang, Jianan Wang, Fang Deng
      Pages: 1 - 10
      Abstract: Unmanned Systems, Ahead of Print.
      Decision algorithms are one of the key areas of focus in cluster confrontation research. In this paper, a Targets-Attackers-Defenders (TADs) game that includes an attacking team with [math] Attackers, a target team with [math] targets and a defending team with [math] Defenders is considered. In this game, the players within each team cooperate with each other, and both cooperation and confrontation between the teams ensue. The defending team cooperates with the target team against the attacking team. The attacking team aims to capture [math] Targets. The defending team protects [math] Targets by intercepting Attackers or rendezvousing with Targets. We present a maximum matching algorithm considering both confrontation and cooperation by using relative distance and velocity parameters, and transform the TADs problem into a real-time target-assignment problem with strong confrontation. Finally, we propose an improved basic variable neighborhood search algorithm to solve the target-assignment problem and give the optimal dynamical strategy for each player.
      Citation: Unmanned Systems
      PubDate: 2022-05-06T07:00:00Z
      DOI: 10.1142/S2301385023500036
       
  • A Dynamic Leader–Follower Approach for Line Marching of Swarm Robots

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      Authors: He Cai, Shuping Guo, Huanli Gao
      Pages: 1 - 16
      Abstract: Unmanned Systems, Ahead of Print.
      Most of the existing exact formation algorithms for swarm systems are fully label-specified, i.e. the desired position for each individual in the formation is predetermined by its label, which would inevitably make the formation algorithms vulnerable to individual failures. To address this issue, in this paper, we propose a dynamic leader–follower approach to solving the line marching problem for a swarm of planar kinematic robots. In contrast to the existing results, the desired positions for the robots in the line are no longer predetermined by the robots’ labels, but the relativity of the robots’ labels as well as their real-time relative positions. By constantly forming the leader–follower chain, exact line marching can be realized by pairwise leader–following tracking. Since the order of the leader–follower chain keeps updating, the proposed algorithm shows strong robustness against robot failures. Comprehensive numerical results are provided to evaluate the performance of the proposed formation algorithm.
      Citation: Unmanned Systems
      PubDate: 2022-04-27T07:00:00Z
      DOI: 10.1142/S2301385023500024
       
  • Development and Testing of Unmanned Semi-Submersible Vehicle

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      Authors: Pascal Spino, Konstantin I. Matveev
      Pages: 1 - 9
      Abstract: Unmanned Systems, Ahead of Print.
      A semi-submersible vehicle has most of its body submerged in the water, while keeping a small platform above the water surface for communication and access to atmospheric air. This vehicle has low visibility, good seaworthiness and low-wave drag in certain speed regimes, and thus, it is potentially suited for special military and civil applications. The main objective of this study is to report on construction and testing of a small, low-cost vehicle of this type, as well as initial tests in open water to characterize its power requirements and trim values at different speeds and settings and to demonstrate some functional capabilities. The vehicle was operated under remote manual control and instrumented with a variety of sensors gathering internal and environmental information. The presented description of the designed system, construction, sensors, data acquisition and control and communication systems, as well as test results, can benefit engineers interested in developing semi-submersible vehicles.
      Citation: Unmanned Systems
      PubDate: 2022-04-27T07:00:00Z
      DOI: 10.1142/S2301385023500048
       
  • A Discrete Approach to Feedback Linearization, Yaw Control of An Unmanned
           Helicopter

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      Authors: Morteza Mohammadzahri, Arman Khaleghifar, Mojtaba Ghodsi, Payam Soltani, Sami AlSulti
      Pages: 1 - 10
      Abstract: Unmanned Systems, Ahead of Print.
      Nonlinear control laws often need to be implemented with digital hardware. Use of digital control systems leads to communication/processing delays which are widely neglected in control of mechanical systems. This paper proposes a discrete approach to feedback linearization that considers these commonly overlooked delays in design. The proposed approach is shown to both improve the performance and remove the need for continuous derivative terms. In feedback linearization control systems, designed in the continuous domain, derivative terms are required to speed up the control response of mechanical systems, but disadvantageously cause high sensitivity to noise. The proposed approach was used to design a feedback linearization control system for a common turning maneuver of an unmanned helicopter in yaw. At this maneuver, the helicopter centroid motion and pitch rotational speed are almost zero. Governing differential equations of the helicopter at this maneuver are nonlinear and coupled. A feedback linearization law was proposed to curb nonlinearity and, a discrete control system, considering the inevitable delay due to the use of digital control systems, was adopted to complete the control law. This innovative approach resulted in less sensitivity to noises and performance boost. Practical limits in terms of control input, rotor speed, sampling frequency and noises of the gyroscope, the tachometer and the acceleration sensor were taken into account in this research. The results show that the proposed control system leads to fast and smooth yaw turns even at a high pitch angle (close to vertical) or in the case of being hit by external objects.
      Citation: Unmanned Systems
      PubDate: 2022-04-18T07:00:00Z
      DOI: 10.1142/S2301385023500012
       
  • An Overview of Recent Advances in Distributed Coordination of Multi-Agent
           Systems

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      Authors: Ruohan Yang, Lu Liu, Gang Feng
      Pages: 1 - 19
      Abstract: Unmanned Systems, Ahead of Print.
      Distributed coordination of multi-agent systems (MASs) has received considerable attention and advanced rapidly in the past years. This paper reviews the recent results on cooperative control of MASs, and in particular cooperative control under various agent dynamics, under communication transmission delays, and under event-triggered strategies. In addition, different coordination tasks, such as consensus, cooperative output regulation, formation control, and containment control, are also taken into consideration. Finally, some open problems on cooperative control of MASs are suggested.
      Citation: Unmanned Systems
      PubDate: 2021-12-08T08:00:00Z
      DOI: 10.1142/S2301385021500199
       
  • Multispectral Visual Odometry Using SVSF for Mobile Robot Localization

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      Authors: Benyounes Fahima, Nemra Abdelkrim
      Pages: 1 - 16
      Abstract: Unmanned Systems, Ahead of Print.
      In this paper, we propose a novel method for mobile robot localization and navigation based on multispectral visual odometry (MVO). The proposed approach consists in combining visible and infrared images to localize the mobile robot under different conditions (day, night, indoor and outdoor). The depth image acquired by the Kinect sensor is very sensitive for IR luminosity, which makes it not very useful for outdoor localization. So, we propose an efficient solution for the aforementioned Kinect limitation based on three navigation modes: indoor localization based on RGB/depth images, night localization based on depth/IR images and outdoor localization using multispectral stereovision RGB/IR. For automatic selection of the appropriate navigation modes, we proposed a fuzzy logic controller based on images’ energies. To overcome the limitation of the multimodal visual navigation (MMVN) especially during navigation mode switching, a smooth variable structure filter (SVSF) is implemented to fuse the MVO pose with the wheel odometry (WO) pose based on the variable structure theory. The proposed approaches are validated with success experimentally for trajectory tracking using the mobile robot (Pioneer P3-AT).
      Citation: Unmanned Systems
      PubDate: 2021-11-27T08:00:00Z
      DOI: 10.1142/S2301385022500157
       
  • Mathematical Modeling and Designing a Heavy Hybrid-Electric Quadcopter,
           Controlled by Flaps

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      Authors: Mohammad Sadeq Ale Isaac, Ahmed Refaat Ragab, Enrique Caballero Garcés, Marco Andres Luna, Pablo Flores Peña, Pascual Campoy Cervera
      Pages: 1 - 13
      Abstract: Unmanned Systems, Ahead of Print.
      Systematic hybrid-electric unmanned aerial vehicles (UAVs) and, especially, quadcopters are so promising due to their long flight endurance and their usage in patrol and rescue missions which gain a high interest to be under examination and test scope by researchers; however, a complete mathematical design is required to fulfill theoretical complexities such as aerodynamic analysis and flight dynamics models related. This paper investigates salient sections from hypothesis to implementation. Researchers at Drone Hopper company have conducted various calculations to perform a precise novel platform called Duty-Hopper (DH). The benefit of this design is to control the attitude by flap vanes and electrical ducted fans (EDFs) when using gasoline engines; while, the principle propellers only lift the drone. This paper examines the attitude control system of DH, once using only flaps, then by only EDFs, and eventually, by compounding both. During this research, the scientific software used is ANSYS-Fluent and MATLAB-SimScape to analyze the entire body of the DH. Furthermore, a robust fault-tolerant controller is designed to immune the DH against internal and external errors. Our research reveals that using flaps is a feasible way to control attitude when it is augmented by EDFs.
      Citation: Unmanned Systems
      PubDate: 2021-11-19T08:00:00Z
      DOI: 10.1142/S2301385022500133
       
  • Automated Playbook for UAV Traffic Management Based on Spatiotemporal
           Scenario Data

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      Authors: Chenyuan He, Yan Wan, Junfei Xie
      Pages: 1 - 17
      Abstract: Unmanned Systems, Ahead of Print.
      This paper develops a decision framework to automate the playbook for UAS traffic management (UTM) under uncertain environmental conditions based on spatiotemporal scenario data. Motivated by the traditional air traffic management (ATM) which uses the playbook to guide traffic using pre-validated routes under convective weather, the proposed UTM playbook leverages a database to store optimal UAS routes tagged with spatiotemporal wind scenarios to automate the UAS trajectory management. Our perspective is that the UASs, and many other modern systems, operate in spatiotemporally evolving environments, and similar spatiotemporal scenarios are tied with similar management decisions. Motivated by this feature, our automated playbook solution integrates the offline operations, online operations and a database to enable real-time UAS trajectory management decisions. The solution features the use of similarity between spatiotemporal scenarios to retrieve offline decisions as the initial solution for online fine tuning, which significantly shortens the online decision time. A fast query algorithm that exploits the correlation of spatiotemporal scenarios is utilized in the decision framework to quickly retrieve the best offline decisions. The online fine tuning adapts to trajectory deviations and subject to collision avoidance among UASs. The solution is demonstrated using simulation studies, and can be utilized in other applications, where quick decisions are desired and spatiotemporal environments play a crucial role in the decision process.
      Citation: Unmanned Systems
      PubDate: 2021-11-03T07:00:00Z
      DOI: 10.1142/S2301385022500145
       
  • Analysis of Unmanned Aircraft Systems Sightings Reports: Determination of
           Factors Leading to High Sighting Reports

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      Authors: Spencer Erik Pitcher
      Pages: 1 - 35
      Abstract: Unmanned Systems, Ahead of Print.
      Unmanned Aircraft System (UAS) growth in the past several years has been rising at a steady pace which has complicated the attempts to safely integrate them into the National Airspace System, as evidenced by an increasing number of UAS sighting reports being submitted to the Federal Aviation Administration. The analysis consisted of a mixed method approach using quantitative analysis of more than 9000 Federal Aviation Administration Unmanned Aircraft System Sighting reports from 2015 through 2019, as well as U.S. Census data, and weather data. The qualitative analysis focused on UAS regulation, and heatmap data of both population density and UAS sighting location density. The findings for the five states with the most and the least sighting reports show that major metropolitan areas, which have high population and population density, higher median household incomes, high percentage of college graduates, and are located in areas that have stable weather and negligible weather effects such as rain and high winds during the summer months, have both high and concentrated levels of UAS sightings.
      Citation: Unmanned Systems
      PubDate: 2021-10-14T07:00:00Z
      DOI: 10.1142/S2301385022500121
       
  • Comparison Between A* and RRT Algorithms for 3D UAV Path Planning

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      Authors: Christian Zammit, Erik-Jan van Kampen
      Pages: 1 - 18
      Abstract: Unmanned Systems, Ahead of Print.
      This paper aims to present a comparative analysis of the two most utilized graph-based and sampling-based algorithms and their variants, in view of 3D UAV path planning in complex indoor environment. The findings of this analysis outline the usability of the methods and can assist future UAV path planning designers to select the best algorithm with the best parameter configuration in relation to the specific application. An extensive literature review of graph-based and sampling-based methods and their variants is first presented. The most utilized algorithms which are the A* for graph-based methods and Rapidly-Exploring Random Tree (RRT) for the sampling-based methods, are defined. A set of variants is also developed to mitigate with inherent shortcomings in the standard algorithms. All algorithms are then tested in the same scenarios and analyzed using the same performance measures. The A* algorithm generates shorter paths with respect to the RRT algorithm. The A* algorithm only explores volumes required for path generation while the RRT algorithms explore the space evenly. The A* algorithm exhibits an oscillatory behavior at different resolutions for the same scenario that is attenuated with the novel A* ripple reduction algorithm. The Multiple RRT generated longer unsmoothed paths in shorter planning times but required more smoothing over RRT. This work is the first attempt to compare graph-based and sampling-based algorithms in 3D path planning of UAVs. Furthermore, this work addresses shortcomings in both A* and RRT standard algorithms by developing a novel A* ripple reduction algorithm, a novel RRT variant and a specifically designed smoothing algorithm.
      Citation: Unmanned Systems
      PubDate: 2021-10-08T07:00:00Z
      DOI: 10.1142/S2301385022500078
       
  • Co-adaptive Human–Robot Cooperation: Summary and Challenges

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      Authors: Sofie Ahlberg, Agnes Axelsson, Pian Yu, Wenceslao Shaw Cortez, Yuan Gao, Ali Ghadirzadeh, Ginevra Castellano, Danica Kragic, Gabriel Skantze, Dimos V. Dimarogonas
      Pages: 1 - 17
      Abstract: Unmanned Systems, Ahead of Print.
      The work presented here is a culmination of developments within the Swedish project COIN: Co-adaptive human-robot interactive systems, funded by the Swedish Foundation for Strategic Research (SSF), which addresses a unified framework for co-adaptive methodologies in human–robot co-existence. We investigate co-adaptation in the context of safe planning/control, trust, and multi-modal human–robot interactions, and present novel methods that allow humans and robots to adapt to one another and discuss directions for future work.
      Citation: Unmanned Systems
      PubDate: 2021-09-17T07:00:00Z
      DOI: 10.1142/S230138502250011X
       
  • Parametric and Implicit Features-Based UAV–UGVs Time-Varying Formation
           Tracking: Dynamic Approach

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      Authors: Ahmed Allam, Abdelkrim Nemra, Mohamed Tadjine
      Pages: 1 - 20
      Abstract: Unmanned Systems, Ahead of Print.
      Flexible and robust Time-Varying Formation (TVF) tracking of Unmanned Ground Vehicles (UGVs) guided by an Unmanned Aerial Vehicle (UAV) is considered in this paper. The UAV–UGVs system control model is based on leader-follower approach, where the control scheme consists of two consecutive tasks, namely, deployment task and TVF tracking. Accordingly, two novel nonlinear controllers are proposed for controlling the UGVs formation. First, unlike the classical frameworks on UGVs formation tracking, for which only particular shapes are handled (e.g. circle, square, ellipse), we propose a UGVs deployment-controller ensuring to reach free-formation shapes. The key feature is in using the estimated implicit representation of the desired formation shape as a potential function to generate the UGVs reference trajectory. Second, in the TVF tracking task, a robust cascaded velocity/torque controller for UGVs is proposed based on kinematic and dynamic models. Differently from the classical backstepping framework, the key idea is in introducing an auxiliary control input, in such a way that the overall UGV dynamics is converted into a simpler and modular control structure. As such, the auxiliary input is used to control indirectly the actual UGVs velocity vector. A signum term is added to the torque-input to compensate for the unknown external disturbances and unmodeled dynamics. Numerical simulation shows the effectiveness of the proposed formation controllers compared with the case when the perfect velocity-tracking assumption holds. Experimental results are further provided using three festos Robtino robots to show the validity of the proposed TVF tracking velocity-control scheme.
      Citation: Unmanned Systems
      PubDate: 2021-09-16T07:00:00Z
      DOI: 10.1142/S2301385022500066
       
  • FAST RRT* 3D-Sliced Planner for Autonomous Exploration Using MAVs

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      Authors: Á. Martínez Novo, Liang Lu, Pascual Campoy
      Pages: 1 - 12
      Abstract: Unmanned Systems, Ahead of Print.
      This paper addresses the challenge to build an autonomous exploration system using Micro-Aerial Vehicles (MAVs). MAVs are capable of flying autonomously, generating collision-free paths to navigate in unknown areas and also reconstructing the environment at which they are deployed. One of the contributions of our system is the “3D-Sliced Planner” for exploration. The main innovation is the low computational resources needed. This is because Optimal-Frontier-Points (OFP) to explore are computed in 2D slices of the 3D environment using a global Rapidly-exploring Random Tree (RRT) frontier detector. Then, the MAV can plan path routes to these points to explore the surroundings with our new proposed local “FAST RRT* Planner” that uses a tree reconnection algorithm based on cost, and a collision checking algorithm based on Signed Distance Field (SDF). The results show the proposed explorer takes 43.95% less time to compute exploration points and paths when compared with the State-of-the-Art represented by the Receding Horizon Next Best View Planner (RH-NBVP) in Gazebo simulations.
      Citation: Unmanned Systems
      PubDate: 2021-09-15T07:00:00Z
      DOI: 10.1142/S2301385022500108
       
  • COAA* — An Optimized Obstacle Avoidance and Navigational Algorithm for
           UAVs Operating in Partially Observable 2D Environments

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      Authors: Jun Jet Tai, Swee King Phang, Felicia Yen Myan Wong
      Pages: 1 - 16
      Abstract: Unmanned Systems, Ahead of Print.
      Obstacle avoidance and navigation (OAN) algorithms typically employ offline or online methods. The former is fast but requires knowledge of a global map, while the latter is usually more computationally heavy in explicit solution methods, or is lacking in configurability in the form of artificial intelligence (AI) enabled agents. In order for OAN algorithms to be brought to mass produced robots, more specifically for multirotor unmanned aerial vehicles (UAVs), the computational requirement of these algorithms must be brought low enough such that its computation can be done entirely onboard a companion computer, while being flexible enough to function without a prior map, as is the case of most real life scenarios. In this paper, a highly configurable algorithm, dubbed Closest Obstacle Avoidance and A* (COAA*), that is lightweight enough to run on the companion computer of the UAV is proposed. This algorithm frees up from the conventional drawbacks of offline and online OAN algorithms, while having guaranteed convergence to a global minimum. The algorithms have been successfully implemented on the Heavy Lift Experimental (HLX) UAV of the Autonomous Robots Research Cluster in Taylor’s University, and the simulated results match the real results sufficiently to show that the algorithm has potential for widespread implementation.
      Citation: Unmanned Systems
      PubDate: 2021-09-03T07:00:00Z
      DOI: 10.1142/S2301385022500091
       
  • A Virtual Method to Estimate the Aerodynamic Coefficients of UAV

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      Authors: Zaouche Mohammed, Foughali Khaled
      Pages: 1 - 11
      Abstract: Unmanned Systems, Ahead of Print.
      In this work, a new approach for aircraft aerodynamic behavior identification by using virtual simulation is proposed. Both theoretical and experimental aspects are presented. A simulation environment, Microsoft Flight Simulator, is used as the test platform. To make the communication with this environment possible, a real-time interface that allows the read and/or write from and to the shared memory layer of this flight simulator is developed. Using this interface, the virtual aircrafts sensors are read and the commands are written to the inputs control (thrust, elevators, ailerons, trims, and rudder). Also, an identification of the aerodynamic coefficients’ derivatives using the total least square technique is presented. The piloting law expression is toughly tied to those derivatives which are unknown and not always available. The aircraft aerodynamic model is then used to calculate the aerodynamic coefficients. We determine the aerodynamic performances of the wing which is based on the polar drag, the computation of the maximum lift-to-drag coefficient ratio and the determination of the moment in which the aerodynamic stall phenomenon appears.
      Citation: Unmanned Systems
      PubDate: 2021-08-28T07:00:00Z
      DOI: 10.1142/S230138502250008X
       
 
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