This work investigates the possibility to improve computational efficiency of a set-based method for trajectory planning car-like vehicle through artificial intelligence. Planning is performed on graph that represents operating scenario in which moves, and kinodynamic feasibility trajectories guaranteed series arguments, involve solution semi-definite programming problems. Navigation hybrid A* algorithm whose performance metrics are improved properly trained classificator, can forecast...

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...

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,...

Long Term Evolution (LTE) is the emerging 4G wireless technology developed to provide high quality services in mobile environments. It foreseen that multimedia and TV will assume an important role for LTE proliferation market. However, several issues are still open meaningful improvements have be introduced managing physical resources when group-oriented should supplied. To this end, we propose a Frequency Domain Packet Scheduling (FDPS) algorithm efficient radio resource management of...

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...

This brief deals with the application of linear parameter varying control concepts to design a full envelope flight system for commercial aircrafts. The proposed controller is fixed have multivariable proportional-integral structure. A matrix inequalities-based technique account variations both in reference model and plant. Some numerical simulations show effectiveness all over aircraft operating envelope.

In high navigation traffic areas, path planning and collision avoidance is a crucial element of safe navigation, mostly in view possible future applications hybrid scenarios where both manned Autonomous Surface Vehicles (ASV) share the environment.This paper deals with novel procedure to generate optimal paths presence static moving obstacles. The proposed approach an optimization problem based on so-called Essential Visibility Graph (EVG) [1], extension standard (VG) [2], order find minimum...

Sensor fault detection and isolation (SFDI) is a fundamental topic in unmanned underwater vehicles (UUV) development, since control system reliability strongly depends on the accuracy of attitude estimation. In small UUVs, typical redundant architectures, based triplex redundancy, can represent strong limitation terms payload power consumption. This work proposes an FDI algorithm for UUVs equipped with duplex sensor architecture. Here, estimation relies upon usage two 9-DoF inertial...

Summary A robust model predictive control scheme for a class of constrained norm‐bounded uncertain discrete‐time linear systems is developed under the hypothesis that only partial state measurements are available feedback. The proposed strategy involves two‐phase procedure. Initialization phase devoted to determining an admissible, though not optimal, memoryless controller capable formally address input rate constraint; then, during on‐line phase, capabilities complement designed by means N...

This study describes the application of task priority null-space behavioural technique to coordinated control a team flying vehicles with hovering capabilities, such as helicopters or quadrotors, in presence obstacles and no-fly zones. Once flight mission is assigned terms target region reach, each vehicle required accomplish four tasks priorities. Formation collisions avoidance other unknown moving are formulated via analytical expressions by classical approach. Move priori known obstacle...

In this paper an innovative Radio Resource Management (RRM) algorithm is proposed with the purpose of increasing High Speed Packet Access (HSPA) performances, in terms system capacity and service quality, when Multimedia Broadcast Multicast Services (MBMS) supplied. The RRM exploits channel quality indications to set up point-to-multipoint connections subgroups multicast users select proper modulation coding schemes on downlink. number determined through optimization technique that also...

This paper proposes an approach for the motion planning of a constrained skid-steered tracked mobile robot under hypothesis non-negligible skid and slip phenomena. Operating environment is firstly discretized with finite dimensional grid. Then, weighted graph defined whose nodes are above mentioned grid points, arcs denote trajectory segments. A modified shortest path search algorithm then proposed to find trajectory, in terms succession arcs, connecting starting ending nodes. Trajectory...

This paper aims to propose a feasible solution the trajectory planning problem for constrained skid-steering mobile robot whose control system, sensors and actuators are connected through communication network. Operating environment is firstly discretized by finite dimensional grid. Then weighted graph, nodes above mentioned points arcs denote segments connecting defined. Finally an algorithm obtain shortest succession of given starting ending proposed. Trajectory feasibility guaranteed in...

The problem of detecting and isolating faults on duplex sensor architecture in a small commercial aircraft is considered. use Set-Based approach involving bank consistency signal generators proposed. In particular, by exploiting the knowledge dynamic relations between command inputs sensed variables discrete time, measurements accuracy has been estimated also presence bounded disturbances model uncertainties. Then, Health Measurement Voting Supervisor detects isolates faulty sensor....

In this paper, we develop a hybrid supervisory control architecture in real-time environment for constrained systems. The strategy is based on Command Governor (CG) ideas and tailored to jointly take into account time-varying set-points/constraints unpredictable anomalies the nominal dynamical plant behaviour. significance of method mainly lies its capability avoid constraint violation loss stability regardless any configuration change occurrence plant/constraint structure by commuting...

This paper presents a solution to the problem of coordinated trajectory planning for multi-robot system used in reconnaissance and surveillance missions. The algorithm ensures collision avoidance between robotic units deployed an obstacle environment by using set-theoretic approach that takes into account closed-loop dynamics tracking errors. proposal explicitly considers performance control algorithm, possible state actuation constraints, external disturbances may affect robots' motion...

In this paper the implementation of an Output Feedback Receding Horizon Control (RHC) algorithm for constrained uncertain discrete-time linear systems subject to norm-bounded Linear Fractional Representation (LFR) model uncertainties has been developed. Performance and effectiveness proposed strategy have numerically tested by considering control augmentation problem High Altitude Demonstrator (HAPD) unmanned aircraft with redundant surfaces.