This article presents a comparison of three control techniques: nested saturations, backstepping, and sliding modes. The objective consists obtaining the best strategy to stabilize position quad-rotor unmanned aerial vehicle (UAV) when using visual feedback. We propose vision-based method measure translational speed as well UAV 3D in local frame. selected controllers were implemented tested real-time experiments. obtained results demonstrate performance such methodologies applied system.

In many unmanned aerial vehicle (UAV) applications such as land assessment, search and rescue, precision agriculture, UAVs are often required to survey multiple spatially distributed regions. To perform these applications, one of the key steps is plan path for UAV quickly cover all The new planning problem explored here, which we call TSP-CPP problem, can be viewed an integration traveling salesman (TSP) coverage (CPP) has not been well studied in literature. this paper, conduct a systematic...

Unmanned aircraft systems (UASs) have gained great popularity in land monitoring, 3-D mapping, search and rescue, among others. Existing studies on UAS path planning these missions consider only a single region to be examined. However, it is frequently encountered that multiple regions need considered while performing real life mission. How design the optimal for cover then critical. From strategical point of view, such problem can as variant traveling salesman (TSP) combined enhanced with...

This paper addresses the problem of road following using a quad rotorcraft equipped with an onboard image processing system. The main objective consists estimating and tracking without priori knowledge path to be tracked. Special interest is also given development efficient estimation control strategies for dealing situations when not detected in camera image. Aiming at this goal, two operational regions are defined: one case another it not. A switching between measurements imaging inertial...

Summary We propose a control strategy based on distributed adaptive leader‐follower consensus algorithms for multi‐agent systems (MAS) affected by switching network events. The allows each agent in the MAS to compute its own input local information and coming from neighbors. In this sense, laws are obtained where coupling gain of associated communication graph is adapted dynamically real‐time. algorithm extended with topology approach, which ensures appropriate performance even when prone...

We address the problem of estimating state a multiagent system based on measurements corrupted by impulsive noise and whose dynamics are subjected to disturbances. The qualifier refers fact that disturbances relatively small most time, but occasionally take large values. Noise modeled as mixtures Gaussian Laplacian processes, leading maximum-likelihood estimator can be computed solving convex sum-of-norms optimization solved online very efficiently. approach has been validated both in...

A biologically-inspired intelligent controller based on a computational model of emotional learning in mammal's brain is employed for flocking control Multi-Agent Systems (MAS). The methodology, known as Brain Emotional Learning Based Intelligent Controller (BELBIC), implemented this application the first time, enhancing strategy with multi-objective properties. capabilities added by BELBIC to are very useful, especially when dealing noises and/or system uncertainty. Furthermore, low...

Neural Networks have significantly evolved, particularly in their application to computer vision. This paper presents a comprehensive comparison of different versions YOLOv8, such as YOLOv8n, YOLOv8s, YOLOv8m, YOLOv8l, and YOLOv8x for the detection pests bean plants, leveraging capabilities Convolutional Networks. To train neural network using identical conditions were applied, amount environment light, number labeled images, epochs, batch size. The results indicate that, complexity YOLO...

The aim of this paper is to introduce a multi-rotorcraft with morphing capabilities. Unlike conventional multi-copters whose body fly in horizontal configuration, the proposed platform be able rotate its into vertical flying mode configuration. research presented considers an 8-engine vehicle that 4-engines case rotor failure. flight also intended for enabling navigation through narrow areas where helicopter are too big operate properly. Also, convertible functionality allows saving battery...

In this paper, a novel neurobiologically-inspired intelligent tracking controller is developed and implemented for unmanned aircraft systems in the presence of uncertain system dynamics disturbance. The methodology adopted, known as Brain Emotional Learning Based Intelligent Controller (BELBIC), based on computational model emotional learning within brain limbic mammals. Compared to conventional model-based control methods, BELBICs are more suitable practical since they can maintain...

Within this paper, the problem of 3D inspection path planning for distributed infrastructure using aerial robots that are subject to time constraints is addressed. The proposed algorithm handles varying spatial properties facilities, accounts their different importance and exploration function computes an overall high reward while respecting robot endurance or mission constraints, as well vehicle dynamics sensor limitations. To achieve its goal, it employs iterative, 3-step optimization...

Mapping and path planning in disaster scenarios is an area that has benefited from aerial imaging unmanned (UAV) surface vehicles (USV). Nowadays, there are many application areas of UAV USV which consist environmental monitoring, victim recovery river mapping the purpose rescue operations. There challenges for flood operations with existing systems where time response critical. The environment completely changing under conditions it causes a dangerous victims operators. Rescue boats widely...

Preliminary results on quadrotor control strategies enabling omnidirectional radio frequency (RF) sensing for source localization and tracking are discussed. The use of a requires tight coupling the attitude RF designs. We present controller ramp reference input in yaw (causing rotation quadrotor) while maintaining constant altitude hover or translation. ability to track angle is crucial bearing estimation using received signal strength (RSS) measurements from directional antenna as it...

We address the problem of hover flight and translational velocity regulation a quad-rotorcraft unmanned aerial vehicle (UAV) with main objective allowing to navigate autonomously. This paper complements improves previous researches considering multiple-camera systems nonconventional sensors, which deal only stabilizing in or take-off landing tasks. A vision system has been implemented estimate vehicle's altitude, lateral position, forward during flights. It is shown that, using visual...