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Three-dimensional position and velocity regulation of a quad-rotorcraft using optical flow

Luis Rodolfo Garcia Carrillo, Isabelle Fantoni, Eduardo Rondon, Alejandro Dzul
2015 IEEE Transactions on Aerospace and Electronic Systems  
We address the problem of hover flight and translational velocity regulation of a quad-rotorcraft UAV with the main objective of allowing the vehicle to navigate autonomously.  ...  Index Terms-Quadrotor, quad-rotorcraft control, visual feedback, optical flow, hierarchical control, autonomous navigation.  ...  Fig. 1 . 1 Position stabilization and velocity regulation of a quad-rotorcraft during an autonomous flight.  ... 
doi:10.1109/taes.2014.130607 fatcat:7inptlf3rvdndpetdw4hnm4hpa

Quad Rotorcraft Switching Control: An Application for the Task of Path Following

2014 IEEE Transactions on Control Systems Technology  
This paper addresses the problem of road following using a quad rotorcraft equipped with an onboard image processing system.  ...  The main objective consists of estimating and tracking the road without a priori knowledge of the path to be tracked.  ...  The embedded DSP allows computing the optical flow (translational velocities) and Hough transform (heading angle and lateral position) on-board at a 100 Hz frequency.  ... 
doi:10.1109/tcst.2013.2284790 fatcat:4j3wukc2uvdczp6l56qbbrab4q

Rotorcraft collision avoidance using spherical image-based visual servoing and single point features

Aaron Mcfadyen, Peter Corke, Luis Mejias
2012 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We present simulated and experimental results using a small quad rotor to validate the approach.  ...  This paper presents a reactive collision avoidance method for small unmanned rotorcraft using spherical imagebased visual servoing.  ...  ACKNOWLEDGMENT The authors would like to thank Miguel A. Olivares-Mendez and Ignacio Mellado-Bataller for their contributions to the experimental setup required for this study.  ... 
doi:10.1109/iros.2012.6386164 dblp:conf/iros/McfadyenCM12 fatcat:mklxag3fzrcsngibs2kdoxfju4

Hovering Quad-Rotor Control: A Comparison of Nonlinear Controllers using Visual Feedback

L. R. Garcia Carrillo, A. Dzul, R. Lozano
2012 IEEE Transactions on Aerospace and Electronic Systems  
The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor unmanned aerial vehicle (UAV) when using visual feedback.  ...  This article presents a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes.  ...  Thus, from these three equations the proposed optical flow vision system allows speed estimation of the rotorcraft up to a scale factor, when flying at constant altitude.  ... 
doi:10.1109/taes.2012.6324687 fatcat:23yh6d3gjffcjfazcctnxkggta

Hovering quad-rotor control: A comparison of nonlinear controllers using visual feedback

Luis Rodolfo Garcia-Carrillo, Eduardo Rondon, Alejandro Dzul, Anand Sanche, Rogelio Lozano
2010 49th IEEE Conference on Decision and Control (CDC)  
The control objective consists of obtaining the best control strategy to stabilize the position of a quad-rotor unmanned aerial vehicle (UAV) when using visual feedback.  ...  This article presents a comparison of three control techniques: Nested Saturations, Backstepping and Sliding Modes.  ...  Thus, from these three equations the proposed optical flow vision system allows speed estimation of the rotorcraft up to a scale factor, when flying at constant altitude.  ... 
doi:10.1109/cdc.2010.5717869 dblp:conf/cdc/CarrilloRDSL10 fatcat:zyj4k4fruzd2bc3qlwtmhzsium

2012 Subject Index

2012 Journal of Guidance Control and Dynamics  
GUIDANCE, VOL. 35, NO. 6: 2012 INDEX Subsonic Flow G12-062 Single-Input/Single-Output Adaptive Flutter Suppression of a Three-Dimensional Aeroelastic System Unsteady Flows G12-146 Fuzzy-Logic Modeling  ...  Toward Flapping Wing Control of Micro Air Vehicles G12-130 Landing with Time-to-Contact and Ventral Optic Flow Estimates G12-064 Passive Longitudinal Stability in Orni- thopter Flight Rotorcraft G12-134  ... 
doi:10.2514/1.60510 fatcat:pmdtengfbzhu5njb4ux3mls5sm

Review of agricultural spraying technologies for plant protection using unmanned aerial vehicle (UAV)

Haibo Chen, 1. Experimental Basis and Practical Training Center, South China Agricultural University, Guangzhou 510642, China, Yubin Lan, Bradley K Fritz, W. Clint Hoffmann, Shengbo Liu, 2. National Center for International Collaboration Research on Precision Agricultural Aviation Pesticides Spraying Technology, Guangzhou 510642, China, 3. College of Electronic Engineering, South China Agricultural University, Guangzhou 510642, China, 4. USDA-ARS Aerial Application Technology Research Unit, College Station, TX 77845, USA, 5. Prology Consulting, College Station, TX 77845, USA
2021 International Journal of Agricultural and Biological Engineering  
application systems with a focus on spray applications of agrichemicals.  ...  This review may inspire the innovation of the combined use of big data analytics and UAV technology, precision agricultural spraying technology, drift reduction technology, swarm UAV cooperative technology  ...  established the three-dimensional two-phase flow model for a six-rotor UAV under a 3 kg load.  ... 
doi:10.25165/j.ijabe.20211401.5714 fatcat:zlnyl5qs3fhgpkk3sqrm2wqsfm

2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25

2020 IEEE/ASME transactions on mechatronics  
I Ichikawa, A., see Kim, E., TMECH Feb. 2020 477-486 Ihn, Y.S., see Jang, N., 1933-1943 In, J.B., see Lee, D., TMECH Feb. 2020 360-370 Indri, M., and Trapani, S., Framework for Static and Dynamic  ...  Friction Identification for Industrial Manipulators; TMECH June 2020 1589-1599 Inyang-Udoh, U., Guo, Y., Peters, J., Oomen, T., and Mishra, S., Layer-to-Layer Predictive Control of Inkjet 3-D Printing  ...  Bouton, A., +, TMECH Oct. 2020 2354-2363 Optical collimators Design of Three-dimensional Isotropic Microprobe Based on Three-Flexible-Hinge Suspension for Measurement of Microstructures.  ... 
doi:10.1109/tmech.2021.3049586 fatcat:k4ngjuvq7jc6pgfoh6irwtkvfi

Optic Flow-based Control and Navigation of Mini Aerial Vehicles

Isabelle Fantoni, Guillaume Sanahuja
Recent methodologies for active and passive navigation of aerial vehicles using optic flow, such as obstacle detection or terrain following, are presented.  ...  This paper concerns recent work on the application of optic flow for control and navigation of small unmanned aerial vehicles.  ...  Acknowledgements This work was carried out within the framework of the Labex MS2T (Reference ANR-11-IDEX-0004-02) and the Equipex ROBOTEX (Reference ANR-10-EQPX-44-01), which were funded by the French  ... 
doi:10.12762/2014.al08-03 fatcat:56pemwatqngfve5h2cu37srcn4

Announcements and Acknowledgments

Eli Livne
2013 Journal of Aircraft  
In modern AFISs, several sensor inputs are fused to obtain a very precise position, in which INS and electro optical sensors (EOSs) are used for con- tinuously correcting the GNSS location.  ...  This article describes the implementation of this active flow- control technique on a three-dimensional (3D) civil aircraft half model and discusses briefly the results obtained for experiments conducted  ... 
doi:10.2514/1.c032252 fatcat:6zd7h7pedzda7ofbnk3zfmiqbe

A Review of Unmanned System Technologies with Its Application to Aquaculture Farm Monitoring and Management

Naomi A. Ubina, Shyi-Chyi Cheng
2022 Drones  
This paper aims to provide an overview of the capabilities of unmanned systems to monitor and manage aquaculture farms that support precision aquaculture using the Internet of Things.  ...  For offshore fish cages, there is a difficulty and risk in the continuous monitoring considering the presence of waves, water currents, and other underwater environmental factors.  ...  Image capture of the drone to evaluate fish feeding intensity using four different feeding intensity levels and the detected optical flow [26] .  ... 
doi:10.3390/drones6010012 fatcat:aik6rkmbffcfvjuzeaeuwefzti

Constrained Control Of A Uav In A World With Obstacles

Elie Hermand, Emanuele Garone
2018 Zenodo  
Since motion capture solely provides position and attitude, a Kalman filter, tuned according the experimental configuration, filters position and estimates velocity.  ...  An inner loop, embedded in the UAV, controls its attitude, while an outer loop, implemented on a ground-based computer, controls its position, the position and attitude being measured by a motion capture  ...  Using the Kalman filter, the translational velocity is estimated and the position filtered.  ... 
doi:10.5281/zenodo.1170445 fatcat:2kiyitbdhnbntn46aztol4v7km

2021 International Conference on Unmanned Aircraft Systems - Final program

2021 2021 International Conference on Unmanned Aircraft Systems (ICUAS)  
We are proud to greet and host this important scientific event that spans a three-day technical conference, preceded by a one-day Workshop/Tutorials program.  ...  On behalf of the ICUAS Association Inc., and in my capacity as the President of the Association, it is a privilege, a great pleasure and an honor to welcome you to the 2021 International Conference on  ...  Unmanned Aerial Vehicles (UAVs) are excellent tools for evaluating and surveying distributed robotic systems applications due to their flexibility and three-dimensional mobility capability.  ... 
doi:10.1109/icuas51884.2021.9476682 fatcat:crdrcczqlbaebncnd76b47hfsu

Important considerations [chapter]

Ana Andrés
2009 Measuring Academic Research  
Three-dimensional methods for external and internal vehicle or propulsion flow-path analyses (includes CFD and closed-form methods or a combination thereof).  ...  Gaseous pressure regulation, flow rate control and measurement.  ...  Profit or Cost Sharing--See Sections 3.6.4, 5.8, and 5.9. Amount Requested--This should exclude any cost-sharing and not exceed $70,000.  ... 
doi:10.1016/b978-1-84334-528-2.50008-4 fatcat:2ddy2nodffcsrgfemkzqpuh4iq

Conference Digest

2020 2020 IEEE Aerospace Conference  
The Auxiliary Payload Sensor Suite (APSS), a collection of environmental sensors carried by the Interior exploration using Seismic Investigations, Geodesy, and Heat Transport (InSight) lander, is capable  ...  of measuring Martian air temperature, wind speed, atmospheric pressure, and local magnetic fields.  ...  It starts with a description of the used feet quantity and position: A four and a three feet design have been studied.  ... 
doi:10.1109/aero47225.2020.9172613 fatcat:ioqf5ijrx5gvffu3ls34aa2nsq
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