A5033168346- Robotics and Sensor-Based Localization
- Adaptive Control of Nonlinear Systems
- Robotic Path Planning Algorithms
- Guidance and Control Systems
- Advanced Vision and Imaging
- Aerospace and Aviation Technology
- Underwater Vehicles and Communication Systems
- Aerospace Engineering and Control Systems
- Inertial Sensor and Navigation
- Distributed Control Multi-Agent Systems
- Modular Robots and Swarm Intelligence
- Advanced Control Systems Optimization
- Remote Sensing and LiDAR Applications
- Systems Engineering Methodologies and Applications
- Control and Dynamics of Mobile Robots
- Advanced Image and Video Retrieval Techniques
- Scientific Computing and Data Management
- Control Systems and Identification
- Autonomous Vehicle Technology and Safety
- Stability and Control of Uncertain Systems
- Adaptive Dynamic Programming Control
- Advanced Measurement and Detection Methods
- EEG and Brain-Computer Interfaces
- Technology Assessment and Management
- Air Traffic Management and Optimization
Commonwealth Scientific and Industrial Research Organisation
2010-2017
Chiba University
2008-2013
Centre National de la Recherche Scientifique
2006-2009
Université de Technologie de Compiègne
2006-2009
Heuristics and Diagnostics for Complex Systems
2006-2008
Robotics Research (United States)
2006-2007
Abstract Recently, there has been growing interest in developing unmanned aircraft systems (UAS) with advanced onboard autonomous capabilities. This paper describes the current state of art rotorcraft UAS (RUAS) and provides a detailed literature review last two decades active research on RUAS. Three functional technology areas are identified as core components an Guidance, navigation, control (GNC) have received much attention from community, dominated nineties until now. first presents...
Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem exploring dangerous, unstructured subterranean environments. Here we describe solution developed by Team CSIRO Data61, consisting CSIRO, Emesent Georgia Tech, during DARPA Subterranean Challenge. These presented systems were fielded in Tunnel Circuit August 2019, Urban February 2020, our own Cave event, conducted September 2020. A unique capability team is...
Abstract Small unmanned aerial vehicles (UAVs) are becoming popular among researchers and vital platforms for several autonomous mission systems. In this paper, we present the design development of a miniature rotorcraft weighing less than 700 g capable waypoint navigation, trajectory tracking, visual precise hovering, automatic takeoff landing. an effort to make advanced behaviors available mini‐ microrotorcraft, embedded inexpensive autopilot was developed. To compensate weaknesses...
Control system design of aerospace vehicles with actuator saturation is an important practical problem that many previous approaches to nonlinear autopilot did not consider. In particular, small unmanned aerial vehicle rotorcraft actuators often have physical limitations such as a restricted onboard power supply. Disregard can affect the final performance, but reduction in performance be mitigated if included controller design. this paper, we propose nested-saturation-based for stabilization...
The capabilities and utility of UAV LiDAR surface from motion photogrammetry have been wide discussion in the remote sensing community assumptions made, often speculative, about potential strengths limitations these systems. Here, we employ a side-by-side test CSIRO Hovermap Micasense RedEdge multispectral camera simultaneously mounted to single platform acquire time-series data set both sensors over growth cycle sugarcane crop northeast Queensland, Australia. primary aim was compare ability...
This paper presents recent work concerning a small tiltrotor aircraft with reduced number of rotors. The design consists two propellers which can tilt laterally and longitudinally. A model the full birotor dynamics is provided, controller based on backstepping procedure synthesized for purposes stabilization trajectory tracking. proposed control strategy has been tested in simulation
Utilised globally across a wide range of applications, the ability to assess and understand LiDAR system capabilities represents an essential component in developing informed decisions on instrument selection logistical planning processes associated with site-specific limitations, project objectives UAV operations. This study employed new SLAM-based CSIRO "Hovermap" within purpose-built environment as testbed experimentally investigate interactive effects fundamental flight parameters key...
This paper describes a vision-based tracking system using an autonomous Quadrotor Unmanned Micro-Aerial Vehicle (MAV). The control relies on color target detection and algorithm integral image, Kalman filters for relative pose estimation, nonlinear controller the MAV stabilization guidance. vision information from single onboard camera. An arbitrary can be selected in real-time ground station, thereby outperforming template learning-based approaches. Experimental results obtained outdoor...
This paper presents the development and experimental validation of a bio-inspired autopilot, called TauPilot, based on ecological tau theory proposed by psychologist David Lee. Tau postulates that animals humans use combination simple guidance strategies variable ( τ) (representing time-to-contact) to prospectively guide control most their purposeful movements. research investigates feasibility effectiveness applying principles movement in four dimensions (three spatial plus time), with...
The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots explore difficult unknown underground environments. Categorized in human-made tunnels, urban infrastructure, natural caves, each these subdomains had many challenging elements robot perception, locomotion, navigation, autonomy. These included degraded wireless communication, poor visibility due smoke, narrow passages doorways, clutter, uneven ground, slippery loose terrain, stairs,...
This paper presents recent work concerning a small tiltrotor aircraft with reduced number of rotors. After several attempts, the final design consists two propellers mounted laterally. The direction thrust can be redirected by tilting laterally and longitudinally. A theoretical analysis this mechanism proves its effectiveness experimental results show that aerodynamical configuration is very promising. model full birotor dynamics also presented in controller based on backstepping procedure...
This paper describes the design and control algorithm of an original configuration for a small aerial vehicle having three rotors with fixed-pitch propellers. The mechanism forces moments generation is described compared other vertical take-off landing (VTOL) vehicles. A mathematical model body-forces process as well 6-DOF (degree freedom) krotorcraft dynamics presented. stabilization proposed which takes into account input amplitude bounds nonlinear couplings in three-rotor dynamics....
On ground stereo vision system is used for autonomous hovering and landing of a quadrotor Micro Aerial Vehicle (MAV). This kind has an advantage to support embedded landing, since occasionally gives inaccurate distance calculation due either vibration problem or unknown geometry the target. Color based object tracking by using Continuously Adaptive Mean Shift (CAMSHIFT) algorithm was examined. Nonlinear model quad-rotor MAV PID controller were landing. The result shows that Camshift good...
In this paper, we describe a miniature flight platform weighing less than 700 grams and capable of way-point navigation, trajectory tracking, precise hovering automatic takeoff landing. an effort to make advanced autonomous behaviors available mini micro rotorcraft, lightweight/portable inexpensive Guidance, Navigation, Control system (GN&C) was developed. To compensate for the weaknesses low-cost equipment, put our efforts in obtaining reliable model-based nonlinear controller. The GN&C...
This paper demonstrates the feasibility of accomplishing real-world inspection tasks beyond visual range with an autonomous helicopter using simple but effective methods. We propose a LIDAR-based perception and guidance system that enables to perform obstacle detection avoidance, terrain following, close-range inspection. The has been implemented on board CSIRO unmanned flight tested in number different mission scenarios unknown environments. have successfully completed 37 missions recorded...
This paper presents the development and experimental validation of a prototype system for online estimation compensation wind disturbances onboard small Rotorcraft unmanned aerial systems (RUAS). The proposed approach consists integrating pitot-static vehicle using simple but effective algorithms estimating speed in real time. baseline flight controller has been augmented with feed-forward term to compensate these disturbances, thereby improving performance RUAS windy conditions. also...
In this paper, we propose a nonlinear controller for the stabilization of rotary-wing aircraft class. The control strategy is based on nested saturation technique which results in uncoupled and explicitly-given inputs. introduction positive gains law has permitted to take into account coupling terms, improve dynamical performance closed-loop system especially convergence speed. performances have been confirmed simulations when compared approach with other existing controllers. We also...