In the Industry 4.0 and digital revolution era, world of manufacturing industry is experiencing an innovative reconfiguration design tools methodologies, with a different approach to production processes organization. The philosophy changing, integrating engineering contribution interpretative aspects (design thinking), executive practices doing) cognitive cultures). becomes human–centered. new Virtual Reality technologies allow validate performances designed products by means virtual...

The optimization of production processes has always been one the cornerstones for manufacturing companies, aimed to increase their productivity, minimizing related costs. In Industry 4.0 era, some innovative technologies, perceived as far away until a few years ago, have become reachable by everyone. massive introduction these technologies directly in factories allows interconnecting resources (machines and humans) entire chain be kept under control, thanks collection analyses real data,...

Unmanned Aerial Vehicles (UAVs) have emerged as a compelling alternative to manned operations, offering the capability navigate hazardous environments without risks for human operators. Despite their potential, optimizing UAV missions in complex and unstructured remains pivotal challenge. Path planning becomes crucial aspect increase mission efficiency, although it is inherently due various factors such obstacles, no-fly zones, non-cooperative aircraft, flight mechanics limitations. This...

In the last decades, increasing employment of unmanned aerial vehicles (UAVs) in civil applications has highlighted potential coordinated multi-aircraft missions. Such an approach offers advantages terms cost-effectiveness, operational flexibility, and mission success rates, particularly complex scenarios such as search rescue operations, environmental monitoring, surveillance. However, achieving global situational awareness, although essential, represents a significant challenge, due to...

This paper deals with a novel procedure to generate optimum flight paths for multiple unmanned aircraft in the presence of obstacles and/or no-fly zones. A real-time collision avoidance algorithm solving optimization problem as minimum cost piecewise linear path search within so-called Essential Visibility Graph (EVG) is first developed. Then, re-planning updating EVG over selected prediction time interval proposed, accounting flying vehicles or movable obstacles. The use Dubins curves...

Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned aerial vehicle (UAV) development, where attitude estimation plays key role flight control systems its accuracy crucial for UAV reliability. In commercial drones with low maximum take-off weights, typical redundant architectures, based on triplex, can represent strong limitation payload capabilities. This paper proposes an FDI algorithm low-cost multi-rotor equipped duplex sensor architecture. Here, involves two...

In this article, an optimal path search methodology for unmanned aerial vehicles (UAVs) flying in 3-D environments is presented, taking into account the presence of obstacles and other constraints deriving from flight dynamics. The so-called essential visibility graph (EVG) extended to case by describing using a finite number parallel planar layers at different altitudes. resulting graph, called layered EVG (LEVG), based on efficient branching algorithm it made up reduced nodes edges thus...

A fault detection and isolation algorithm for the attitude estimation of an unmanned aerial vehicle (UAV) using low-cost magnetometers, accelerometers, gyroscopes, implemented in inertial measurement unit (IMU) is proposed. Assuming availability double triaxial gyros, possibility that can occur both input (gyros outputs) output (accelerometers magnetometers to kinematic nonlinear relations underlying must be taken into account. If extended Kalman filter (EKF) compensate biases on detection,...

This paper deals with the design of a decentralized guidance and control strategy for swarm unmanned aerial vehicles (UAVs), objective maintaining given connection topology assigned mutual distances while flying to target area. In absence obstacles, topology, based on an extended Delaunay triangulation concept, implements regular connected formation shapes. presence this technique is combined model predictive (MPC) that allows forming independent sub-swarms optimizing spreading avoid...

In recent years the use of Unmanned Aerial Vehicles (UAVs) has considerably grown in civil sectors, due to their high flexibility use. Currently, two important key points are making them more and successful field, namely decrease production costs increase navigation accuracy. this paper, we propose a Kalman filtering-based sensor fusion algorithm, using low cost platform that contains an inertial measurement unit (IMU), five ultrasonic ranging sensors optical flow camera. The aim is improve...

Unmanned aerial vehicles (UAVs) are increasingly employed in civil applications due to their ease of use and adaptability. This paper proposes a distributed navigation strategy for formation UAVs post-avalanche search-and-rescue (SAR) operations. Formations offer more efficient approach than single dynamic complex operational environments. Additionally, they can distribute different sensors, reducing payload increasing robustness overall efficiency. The proposed algorithm relies on the...

Unmanned aerial vehicles (UAVs) are playing an increasingly crucial role in many applications such as search and rescue, delivery services, military operations. However, one of the significant challenges this area is to plan efficient safe trajectories for UAV formations. This paper presents optimization procedure trajectory planning fixed-wing formations using graph theory clothoid curves. The proposed strategy consists two main steps. Firstly, geometric paths carried out graphs each UAV,...

This research focuses on integrating seakeeping indices into the trajectory planning of a mother ship in order to minimize risks during UAV (unmanned aerial vehicle) takeoff and landing challenging sea conditions. By considering vessel dynamics environmental factors, proposed algorithm computes optimal paths that prioritize stability safety ship, mitigating impact adverse weather operations. Specifically, new adaptive routing model presented is based genetic algorithm. The uses previously...

In this paper, we study a two-person game between one leader and follower, called the Stackelberg game. The player enounces decision before others, follower takes into account solves an optimization problem that may have multiple solutions. Then, optimizes his objective by assuming given follower's reaction depending on behavior. We consider in paper hierarchical equilibrium solution for two-level game, particularly strong solutions corresponds to optimistic leader's point of view give...

A flight control system for a tilt rotor UAV has been synthesized based on an incremental nonlinear dynamic inversion technique. As known the effectiveness of controllers depends accurate knowledge plant dynamics. Tilt aircraft are flexible platforms capable flying in wide envelope, ranging from hover to forward conditions. Inherent dynamics vehicle highly such envelope and thrust vectoring, required transition phases, introduces dramatic cross coupling effects. component approach used model...

In this paper a Fault Tolerant system for the attitude estimation of an Unmanned Aerial Vehicle (UAV) using low cost magnetometers, accelerometers, and gyroscopes, implemented in Inertial Measurement Unit (IMU) is proposed. An approach based on Unscented Kalman Filter (UKF) Detection, Isolation Reconfiguration investigated presence Hardware Duplex IMU mounted board flight control purposes. A state automaton, with comparative logics, detects if anomalies occurr one two IMUs; then comparison...

A small scale tri-rotor test bed with tilting propellers has been built to flight control laws in view of the construction a larger tilt rotor UAV. As first step achieve autonomous capabilities, nonlinear dynamic inversion based controller is developed. This designed on basis time-scale principle two levels. lower level, fast action, attitude and stability goals, driven by higher level trajectory tracking law. To robust performance presence parametric variations modelling uncertainties, an...