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Effective target aware visual navigation for UAVs

Ciro Potena, Daniele Nardi, Alberto Pretto
2017 2017 European Conference on Mobile Robots (ECMR)  
Instead, we compute the optimal trajectory by solving a non-linear optimization problem that minimizes the target re-projection error while meeting the UAV's dynamic constraints.  ...  In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object  ...  Fig. 1 : 1 An example of target aware visual navigation: the UAV is N , where t f is the final time and N is the number of steps.  ... 
doi:10.1109/ecmr.2017.8098714 dblp:conf/ecmr/PotenaNP17 fatcat:4ec3lqabz5cercyxikewkrbj3e

Managing workload in human–robot interaction: A review of empirical studies

Matthew S. Prewett, Ryan C. Johnson, Kristin N. Saboe, Linda R. Elliott, Michael D. Coovert
2010 Computers in Human Behavior  
Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently  ...  Principles and propositions are provided for those interested in decreasing operator workload in applied settings and also for future research.  ...  and workload in processing targets; RT to probes -4 UAV users had better accuracy and RT, but equal times Hill and Bodt (2007) Errors and efficiency in navigation -Users of 1 UGV had optimal navigation  ... 
doi:10.1016/j.chb.2010.03.010 fatcat:gmy3ldtnlvauxfk27rbgqtpim4

Person Following by Autonomous Robots: A Categorical Overview [article]

Md Jahidul Islam, Jungseok Hong, Junaed Sattar
2019 arXiv   pre-print
Furthermore, several prospective application areas are identified, and open problems are highlighted for future research.  ...  Also, the corresponding operational challenges are identified based on various design choices for ground, underwater, and aerial scenarios.  ...  optimal path to follow the target .  ... 
arXiv:1803.08202v4 fatcat:wrqjbueulramzknpae3kt45kte

Networked Unmanned Aerial Vehicles for Surveillance and Monitoring: A Survey

Xiaohui Li, Andrey V. Savkin
2021 Future Internet  
This article classifies publications on networked UAVs for surveillance and monitoring using the targets of interest and analyzes several typical problems on this topic, including the control, navigation  ...  , and deployment optimization of UAVs.  ...  Acknowledgments: Authors would like to thank the anonymous reviewers for their valuable comments and suggestions on this paper.  ... 
doi:10.3390/fi13070174 doaj:e64a88618b2d44ff9b8c3522b9122854 fatcat:3blozc2wvfhzff4ih3nlv76g6y

Survey on Computer Vision for UAVs: Current Developments and Trends

Christoforos Kanellakis, George Nikolakopoulos
2017 Journal of Intelligent and Robotic Systems  
To this extent, visual sensing techniques have been integrated in the control pipeline of the UAVs in order to enhance their navigation and guidance skills.  ...  The aim of this article is to present a comprehensive literature review on vision based applications for UAVs focusing mainly on current developments and trends.  ...  The VISual Threat Awareness (VISTA) system, for passive stereo image based obstacle detection, for UAVs was presented in [103] .  ... 
doi:10.1007/s10846-017-0483-z fatcat:2abqia3mlnedrlonxhlsjanffy

Integrated long-range UAV/UGV collaborative target tracking

Mark B. Moseley, Benjamin P. Grocholsky, Carol Cheung, Sanjiv Singh, Grant R. Gerhart, Douglas W. Gage, Charles M. Shoemaker
2009 Unmanned Systems Technology XI  
surveillance, targeting, and improved communications based on PackBot UGV and Raven UAV platforms.  ...  The system is brought together through a unified Operator Control Unit (OCU) for the PackBot and Raven that provides simultaneous waypoint navigation and traditional teleoperation.  ...  Significant progress has also been made in visual target tracking on the Raven UAV and target geo-location for both the Raven UAV and PackBot UGV.  ... 
doi:10.1117/12.820289 fatcat:oyag7ake5javbh5niyb73oos2a

Risk-aware Path and Motion Planning for a Tethered Aerial Visual Assistant in Unstructured or Confined Environments [article]

Xuesu Xiao
2020 arXiv   pre-print
This research aims at developing path and motion planning algorithms for a tethered Unmanned Aerial Vehicle (UAV) to visually assist a teleoperated primary robot in unstructured or confined environments  ...  The planned flight trajectory is then realized on a tethered UAV platform.  ...  the visual assistant to a pre-defined target.  ... 
arXiv:2007.09595v1 fatcat:gfo6mb75kbc5zkga6kaa54fyj4

Autonomous UAV Navigation: A DDPG-based Deep Reinforcement Learning Approach [article]

Omar Bouhamed, Hakim Ghazzai, Hichem Besbes, Yehia Massoud
2020 arXiv   pre-print
In this approach, a Deep Deterministic Policy Gradient (DDPG) with continuous action space is designed to train the UAV to navigate through or over the obstacles to reach its assigned target.  ...  Numerical simulations investigate the behavior of the UAV in learning the environment and autonomously determining trajectories for different selected scenarios.  ...  CONCLUSION In this paper, we have developed an efficient framework for autonomous obstacle-aware UAV navigation in urban areas.  ... 
arXiv:2003.10923v1 fatcat:l7y336tncrb6fouyn26zpkhmyi

Design Challenges of Multi-UAV Systems in Cyber-Physical Applications: A Comprehensive Survey, and Future Directions [article]

Reza Shakeri, Mohammed Ali Al-Garadi, Ahmed Badawy, Amr Mohamed, Tamer Khattab, Abdulla Al-Ali, Khaled A. Harras, Mohsen Guizani
2018 arXiv   pre-print
We highlight key and versatile aspects that span the coverage and tracking of targets and infrastructure objects, energy-efficient navigation, and image analysis using machine learning for fine-grained  ...  Therefore, in this survey, we aim to pinpoint the most fundamental and important design challenges of multi-UAV systems for CPS applications.  ...  Multi-UAVs for visual monitoring of CPSs Regarding the CPS context, the use of multi-UAV systems for visual monitoring can hold significant practical applications.  ... 
arXiv:1810.09729v1 fatcat:fpjvb4cezzfnhhnefcpgulnvbu

Optimization Methods Applied to Motion Planning of Unmanned Aerial Vehicles: A Review

Amber Israr, Zain Anwar Ali, Eman H. Alkhammash, Jari Juhani Jussila
2022 Drones  
Among flying robots, Unmanned Aerial Vehicles (UAVs) are highly attractive and applicable for military and civilian purposes.  ...  These applications require motion planning of UAVs along with collision avoidance protocols to get better robustness and a faster convergence rate to meet the target.  ...  [45] worked on optimizing trajectories for UAVs that used less time in searching for targets, avoided collisions, and maintained communication.  ... 
doi:10.3390/drones6050126 fatcat:gmays7nvtzfjpdlbc67jbn3hle

Relative Navigation in UAV Applications

Tuncay Yunus Erkec, Chingiz Hajiyev
2020 International Journal of Aviation Science and Technology  
The sensors are used individually or integrated each other via sensor integration for solving relative navigation problems.  ...  This paper is committed to the relative navigation of Unmanned Aerial Vehicles (UAVs) flying in formation flight.  ...  Relative Navigation Algorithms for UAVs In this part, as mentioned above, using algorithms for control section of UAVs which are used for not only sensor fusion but also detect and estimate the target  ... 
doi:10.23890/ijast.vm01is02.0202 fatcat:2xx44otnnnbtfbmf3nnx7pcd6u

Table of Contents

2021 2021 IEEE International Conference on Unmanned Systems (ICUS)  
Visual Navigation Marker Detection Algorithm Based on 80 Multi-Constraints Huaijian Li, Linlin Wan, Hong Chen, Xiaojing Du* 20210045 Design of Trajectory  ...  AUV Integrated Navigation System 896 Yuxin Zhao, Yang Chen, Liheng Chen, Xiong Deng, Nan Jiang, Lihua Hou 20210321 Collective Dynamics and _ Visual Interaction  ... 
doi:10.1109/icus52573.2021.9641472 fatcat:dfgczu2c4vahlkz4ecryl6klg4

An Open Source and Open Hardware Deep Learning-Powered Visual Navigation Engine for Autonomous Nano-UAVs

Daniele Palossi, Francesco Conti, Luca Benini
2019 2019 15th International Conference on Distributed Computing in Sensor Systems (DCOSS)  
In this work, we present what is, to the best of our knowledge, the first 27 g nano-UAV system able to run aboard an end-to-end, closedloop visual pipeline for autonomous navigation based on a stateof-the-art  ...  Our visual navigation engine is enabled by the combination of an ultra-low power computing device (the GAP8 system-on-chip) with a novel methodology for the deployment of deep convolutional neural networks  ...  Gürkaynak for his contribution in making the supplementary videos. This work has been partially funded by projects EC H2020 OPRECOMP (732631) and ALOHA (780788).  ... 
doi:10.1109/dcoss.2019.00111 dblp:conf/dcoss/Palossi0B19 fatcat:trar3n2h4ne35kkm4iysff4g54

An Open Source and Open Hardware Deep Learning-powered Visual Navigation Engine for Autonomous Nano-UAVs [article]

Daniele Palossi, Francesco Conti, Luca Benini
2019 arXiv   pre-print
In this work, we present what is, to the best of our knowledge, the first 27g nano-UAV system able to run aboard an end-to-end, closed-loop visual pipeline for autonomous navigation based on a state-of-the-art  ...  Our visual navigation engine is enabled by the combination of an ultra-low power computing device (the GAP8 system-on-chip) with a novel methodology for the deployment of deep convolutional neural networks  ...  Gürkaynak for his contribution in making the supplementary videos. This work has been partially funded by projects EC H2020 OPRECOMP (732631) and ALOHA (780788).  ... 
arXiv:1905.04166v1 fatcat:mhyczozxcbbtbnbuivfgnibebq

Joint Vision-Based Navigation, Control and Obstacle Avoidance for UAVs in Dynamic Environments [article]

Ciro Potena, Daniele Nardi, Alberto Pretto
2019 arXiv   pre-print
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities.  ...  The resulting trajectories are well suited for reaching the specified goal location while avoiding obstacles with a safety margin and minimizing the probability of losing the route with the target of interest  ...  Moreover, our approach does not depend on a specific application and can potentially provide benefits to a large variety of applications, such as vision-based navigation, target tracking, and visual servoing  ... 
arXiv:1905.01187v2 fatcat:cknterma2bhs5oix5uasiubq64
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