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Control and perception techniques for aerial robotics

A. Ollero
2003 IFAC Proceedings Volumes  
This paper review methods and technologies that have been applied in aerial robotics. The paper presents several unmanned aerial vehicle platforms.  ...  Furthermore, computer vision techniques for aerial robotics are briefly considered. Finally, the paper presents systems and projects involving multiple autonomous aerial and ground systems. #  ...  Acknowledgements This work has been carried out in the framework of the COMETS project (European Commission, IST 2001-34304) and the CROMAT project (Spanish National Research Programme DPI2002-04401-  ... 
doi:10.1016/s1474-6670(17)33366-9 fatcat:ysf7pe4m5bcdjmfqarbxd2q7tq

Control and perception techniques for aerial robotics

Aníbal Ollero, Luís Merino
2004 Annual Reviews in Control  
This paper review methods and technologies that have been applied in aerial robotics. The paper presents several unmanned aerial vehicle platforms.  ...  Furthermore, computer vision techniques for aerial robotics are briefly considered. Finally, the paper presents systems and projects involving multiple autonomous aerial and ground systems. #  ...  Acknowledgements This work has been carried out in the framework of the COMETS project (European Commission, IST 2001-34304) and the CROMAT project (Spanish National Research Programme DPI2002-04401-  ... 
doi:10.1016/j.arcontrol.2004.05.003 fatcat:3ibny2zinbbobdq25n7mveudm4

Analysis of Image Sequences for the Unmanned Aerial Vehicle [chapter]

Marcin S. Szczuka, Nguyen Hung Son
2003 Studies in Fuzziness and Soft Computing  
This work has been supported by the Wallenberg Foundation -WITAS Project and by the grant 8T11C 025 19 from the Polish State Committee for Scientific Research (KBN).  ...  Introduction The issue of constructing and controlling an autonomous Unmanned Aerial Vehicle (UAV) is a multi-fold one.  ...  The idea of constructing such a vehicle (helicopter) for the purposes of traffic control drives the WITAS (the Wallenberg laboratory for research on Information Technology and Autonomous Systems) project  ... 
doi:10.1007/978-3-540-36473-3_28 fatcat:ibcxss2z3zaj3glwa5nuj72x44

Analysis of Image Sequences for the Unmanned Aerial Vehicle [chapter]

Hung Son Nguyen, Andrzej Skowron, Marcin S. Szczuka
2001 Lecture Notes in Computer Science  
This work has been supported by the Wallenberg Foundation -WITAS Project and by the grant 8T11C 025 19 from the Polish State Committee for Scientific Research (KBN).  ...  Introduction The issue of constructing and controlling an autonomous Unmanned Aerial Vehicle (UAV) is a multi-fold one.  ...  The idea of constructing such a vehicle (helicopter) for the purposes of traffic control drives the WITAS (the Wallenberg laboratory for research on Information Technology and Autonomous Systems) project  ... 
doi:10.1007/3-540-45548-5_41 fatcat:hlc2xocm2be3rpbihl732gp3dq

A framework for fuzzy logic based UAV navigation and control

L. Doitsidis, K.P. Valavanis, N.C. Tsourveloudis, M. Kontitsis
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
A two module fuzzy logic controller that also includes a separate error calculating box is derived for autonomous navigation and control of small manned -unmanned aerial vehicles demonstrating ability  ...  A MATLAB standard configuration environment and the Aerosim Aeronautical Simulation Block Set are utilized for simulation studies, presented through a visualization interface; results illustrate controller  ...  of detailed 6 degrees-of-freedom nonlinear generic manned / unmanned aerial vehicle models (which may be customized through parameter files), including, among others, the Aerosonde UAV and the Navion  ... 
doi:10.1109/robot.2004.1308903 dblp:conf/icra/DoitsidisVTK04 fatcat:de75ssd7vzfljl34m24htc77ci

A FLEXIBLE RUNTIME SYSTEM FOR IMAGE PROCESSING IN A DISTRIBUTED COMPUTATIONAL ENVIRONMENT FOR AN UNMANNED AERIAL VEHICLE

KLAS NORDBERG, PATRICK DOHERTY, PER-ERIK FORSSÉN, JOHAN WIKLUND, PER ANDERSSON
2006 International journal of pattern recognition and artificial intelligence  
The image processing takes place in a dedicated module located in the process layer, and is the main focus of the paper.  ...  The software architecture is characterized at a coarse scale as a three level system, with a deliberative layer at the top, a reactive layer in the middle, and a processing layer at the bottom.  ...  Introduction The WITAS Unmanned Aerial Vehicle Project ¾ is an ambitious, long-term basic research project whose main objectives are the development of an integrated hardware/software VTOL platform for  ... 
doi:10.1142/s0218001406004867 fatcat:skt4er6txfb3vislipbah27keq

A FLEXIBLE RUNTIME SYSTEM FOR IMAGE PROCESSING IN A DISTRIBUTED COMPUTATIONAL ENVIRONMENT FOR AN UNMANNED AERIAL VEHICLE

KLAS NORDBERG, PER-ERIK FORSSÉN, JOHAN WIKLUND, PATRICK DOHERTY, PER ANDERSSON
2002 Recent Trends in Multimedia Information Processing  
The image processing takes place in a dedicated module located in the process layer, and is the main focus of the paper.  ...  The software architecture is characterized at a coarse scale as a three level system, with a deliberate layer at the top, a reactive layer in the middle, and a processing layer at the bottom.  ...  Introduction The WITAS 1 Unmanned Aerial Vehicle Project 2 [2] is an ambitious, long-term basic research project whose main objectives are the development of an integrated hardware/software VTOL platform  ... 
doi:10.1142/9789812776266_0010 fatcat:d4huychxz5drxkboutc7xb55ie

Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle

Mariusz Wzorek, Patrick Doherty
2006 2006 International Conference on Hybrid Information Technology  
In this paper, we present a motion planning framework for a fully deployed autonomous unmanned aerial vehicle which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly  ...  Additionally, we incorporate dynamic reconfigurability into the framework by integrating the motion planners with the control kernel of the UAV in a novel manner with little modification to the original  ...  Introduction The use of Unmanned Aerial Vehicles (UAVs) which can operate autonomously in dynamic and complex operational environments is becoming increasingly more common.  ... 
doi:10.1109/ichit.2006.253618 fatcat:pw4rwx7ovnerppuhyh63x7vuru

Motion compensation and object detection for autonomous helicopter visual navigation in the COMETS system

A. Ollero, J. Ferruz, F. Caballero, S. Hurtado, L. Merino
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
This paper presents real time computer vision techniques for autonomous navigation and operation of unmanned aerial vehicles.  ...  The proposed techniques are based on image feature matching and projective methods. Particularly, the paper presents the application to helicopter motion compensation and object detection.  ...  ACKNOWLEDGMENT The authors wish to thank the collaboration of the other COMETS partners, specially Miguel Ángel González, from Helivision, whose expertise has been helpful to obtain the experimental results  ... 
doi:10.1109/robot.2004.1307123 dblp:conf/icra/OlleroFCHM04 fatcat:4jm5q4tmhvderm76golbpd4h74

Generating Traffic Statistical Profiles Using Unmanned Helicopter-Based Video Data

Anuj Puri, Kimon Valavanis, Michael Kontitsis
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
Small unmanned vertical take off and landing vehicles are used to provide the eye-in-the-sky alternative to monitoring and regulating traffic dynamically.  ...  The authors are with the Department of Computer Science and Engineering, University of South Florida, Tampa, FL 33620. E-mail: {apuri, kvalavan, mkontits}@cse.usf.edu.  ...  The authors would like to thank Pei Sung Lin, Senior Researcher, Center for Urban Transportation Research (CUTR), USF for his insightful comments and contribution.  ... 
doi:10.1109/robot.2007.363095 dblp:conf/icra/PuriVK07 fatcat:ghpcvpkr4ve57hoarvxhq2rkfu

Outdoor Environment Monitoring with Unmanned Aerial Vehicles [chapter]

Claudio Piciarelli, Christian Micheloni, Niki Martinel, Marco Vernier, Gian Luca Foresti
2013 Lecture Notes in Computer Science  
This work addresses the problem of video surveillance of outdoor environments with unmanned aerial vehicles (UAV).  ...  The second step tackles with the problem of online detection of relevant differences between the acquired images and the mosaic model.  ...  Introduction This work aims to explore the monitoring capabilities of a system composed by a video sensor mounted on an unmanned aerial vehicle (UAV), and specifically on a multicopter drone.  ... 
doi:10.1007/978-3-642-41184-7_29 fatcat:inr6rgoplvazjkjfz7xhcmdkoq

Increasing robustness, reliability and ergonomics in speech interfaces for aerial control systems

Javier Ferreiros, Rubén San-Segundo, Roberto Barra, Víctor Pérez
2009 Aerospace Science and Technology  
This paper also provides a state-of-art review of using Speech Technology for controlling aerial vehicles, comparing the main initiatives carried out.  ...  This paper proposes several speech technology improvements for increasing robustness, reliability and ergonomics in speech interfaces for controlling aerial vehicles.  ...  Some of the developments have been partially supported by the following projects: SD-TEAM (MEC ref: TIN2008-06856-C05-03) and ROBONAUTA (ref: DPI2007-66846-C02-02).  ... 
doi:10.1016/j.ast.2009.06.002 fatcat:cn73xk7dcvdhdjkubs34vlk2re

Aerospace science and technology [chapter]

2015 Advances in Engineering Materials and Applied Mechanics  
This paper also provides a state-of-art review of using Speech Technology for controlling aerial vehicles, comparing the main initiatives carried out.  ...  This paper proposes several speech technology improvements for increasing robustness, reliability and ergonomics in speech interfaces for controlling aerial vehicles.  ...  Some of the developments have been partially supported by the following projects: SD-TEAM (MEC ref: TIN2008-06856-C05-03) and ROBONAUTA (ref: DPI2007-66846-C02-02).  ... 
doi:10.1201/b19268-13 fatcat:myfbc3ox4rgghbg5knqw4swune

Situation Identification by Unmanned Aerial Vehicle [chapter]

H. S. Nguyen, A. Skowron, M. Szczuka
2001 Lecture Notes in Computer Science  
An approach to a multi-facet task of situation identification by Unmanned Aerial Vehicle (UAV) is presented.  ...  The concept of multi-layered identification system based on soft computing approach to reasoning with incomplete, imprecise or vague information is discussed.  ...  This work has been supported by the Wallenberg Foundation -WITAS Project, by the ESPRIT-CRIT 2 project #20288, and by grant 8T11C 025 19 from the State Committee for Scientific Research (KBN) of the Republic  ... 
doi:10.1007/3-540-45554-x_5 fatcat:aizrwomgyvbvlmxac22mfh55ja

Approximation Transducers and Trees: A Technique for Combining Rough and Crisp Knowledge [chapter]

Patrick Doherty, Witold Lukaszewicz, Andrzej Skowron, Andrzej Szałas
2004 Rough-Neural Computing  
aerial vehicles.  ...  constructing, and managing a particular class of approximate knowledge structures for use with intelligent artifacts ranging from simpler devices such as personal digital assistants to more complex ones such as unmanned  ...  Acknowledgments The research has been supported in part by the Wallenberg Foundation.  ... 
doi:10.1007/978-3-642-18859-6_8 fatcat:kz3eageqjzfylir7kwvfkl3evi
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