Abstract This paper presents a framework for navigating in obstacle‐dense environments as posed the 2016 International Conference on Intelligent Robots and Systems (IROS) Autonomous Drone Racing Challenge. Our is based direct visual servoing leg‐by‐leg planning to navigate complex environment filled with many similar frame‐shaped obstacles fly through. indoor navigation method relies velocity measurement by an optical flow sensor since position measurements from GPS or external cameras are...

This paper proposes a vision-based target following and landing system for quadrotor vehicle on moving platform. The is consisted with site detection locating algorithm using an omnidirectional lens. Latest smartphone was attached the UAV served as on-board image acquisition process unit. Measurements from camera are combined proper dynamic model in order to estimate position velocity of An adaptive control scheme implemented flight computer deal unknown disturbances outdoor environment....

This paper proposes a spline-RRT* algorithm and describes its application to path planning for fixed-wing UAVs operating in three-dimensional environments. The tree structure of the proposed is extended by using spline method based on cubic Bézier curve. Through use this method, can produce smooth without any post-processing also handle initial approach direction, that is, heading flight angle target UAV. A dynamic feasibility check, incorporating geometric collision run as part extension,...

This paper proposes a bidirectional spline-RRT∗ path planning algorithm for fixed-wing unmanned aerial vehicles (UAVs). The proposed combines the basic RRT∗ with spline method to produce smooth paths, which are essential UAVs. generates paths satisfying approach direction constraints on both start and goal points, makes it significantly different from typical algorithms. Further, is asymptotically optimal as cost of found decreases number vertices increases, finally converging path. also...

This paper proposes a path planning algorithm based on rapidly-exploring random trees (RRTs) for fixed-wing unmanned aerial vehicles (UAVs). The uses pre-defined motion primitive set to extend the tree, and can be designed reflect dynamic capability of target aircraft. proposed method produces collision-free, dynamically feasible, smooth curves. Furthermore, determine approach direction each initial goal position arrival time at by generating an inertial speed command. Estimated information,...

In this paper, we propose a novel concept foran unmanned delivery service using cooperative heterogeneous system consisting of self-driving car and an aerial vehicle (UAV). The proposed is suitable to deliver parcels in high-density high-rise urban or residential areas. order achieve the concept, will develop acooperative system. Customers can goods smartphone application information, including position customer time, package transported automatically by systems. assigns tasks for each...

Abstract In this study, we present a system that manages multiple unmanned aerial vehicles (UAVs) for search, pickup, and drop mission in the 2017 Mohamed Bin Zayed International Robotics Challenge (MBZIRC). Three UAVs picked up dropped 23 circular rectangular targets into designated box. To control operation of three flying over an arena 90 × 60 m, designed integrated set technologies our system: airspace allocation, communication framework among UAVs, anticollision based on geofencing,...

In this study, we propose a control technique for stabilizing the attitude of multicopters when one or motors develops fault. Existing fault-tolerant multicopter schemes attempt to secure force by tilting principal axis applying allocation method extra rotors in hexacopters and octocopters. However, these methods have disadvantage requiring additional mechanical devices algorithms fault detection isolation. robust adaptive that overcomes problems can follow commands uncertain situations....

This paper describes a path planning algorithm for fixed-wing UAV flights that follow the local terrain. The proposed utilizes spline-RRT∗ planner in which tree structure is extended using spline method to generate smooth paths without any post-processing. In addition, cost function ensures are sufficiently far from several hazardous positions and close surface of Therefore, resulting geometrically dynamically feasible terrain following flights, asymptotically optimal. A series simulations...

This article describes a path planning algorithm for fixed-wing UAVs when real terrain should be considered. Nowadays, many are required to perform mission flights near given surveillance, reconnaissance, and infiltration, as well flight altitude of relatively lower than typical manned aerial vehicles. Therefore, considered in algorithms UAVs. In this research, we have extended spline-<TEX>$RRT^*$</TEX> three-dimensional planner. The is <TEX>$RRT^*$</TEX> based algorithm, it takes spline...

This paper proposes a novel image-based visual servoing (IBVS) optimal path-planning framework and reference feature tracking scheme that not only overcome the deficiencies of traditional approaches but also improve control performance guarantee optimality. In particular, proposed provides path points between initial desired positions target, called references, by adapting rapidly-exploring random tree (RRT*) algorithm in order to drawbacks inherent conventional methods. contrast existing...

In this paper, we detail the development of mini-drones and propose a feedback linearization based velocity controller, results outdoor autonomous swarming flights are described. The developed mini-drone has compact size, with wheelbase 130 mm mass 76 g, including all sensors necessary for flight. proposed controller enables precise control via compensating nonlinearity inherent in dynamics. Also, flight test show that operate precisely under actual conditions.

Perception still remains a challenging problem for autonomous navigation in unknown environment, especially aerial vehicles. Most mapping algorithms are specifically designed their very intended task, which hinders extended usage or cooperative task. In this paper, we propose voxel system that can build an adaptable map multiple tasks. The employs hash table-based structure and manages each with spatial temporal priorities without explicit boundary. We also introduce efficient map-sharing...

This article presents the extension of existing coordinate systems for autonomous swarming flight and subsequent experimental results using 130 mini quadrotors. The performance quadrotors has been continuously improved in our laboratory, Unmanned System Research Group (USRG). Mini can fly autonomously a GNSS-based navigation algorithm. We also extended horizontal equatorial to more easily generate three-dimensional path, these represent powerful tool generation paths improvement quality. To...

Chemical mechanical planarization (CMP) is one of the most powerful process to realize next generation semiconductor devices including 3D heterogeneous structures and several nanometer line width.In CMP industry, reduction slurry consumption without avoiding drop in productivity important requirements for environmental sustainability on [1], [2], [3].In this paper, authors propose a spray nozzle supply minimum quantity mist, which reduce increase material removal rate (MRR) SiO2 [4] [5].The...

In this paper, we describe the development of a trajectory generation and tracking control system for quadrotor UAV. The algorithm generates minimum snap trajectories which minimizes effort actuation motors, geometric based controller is utilized given precisely. thrust command angular rate commands an inner-loop controller. To identify flight performance, developed platform carried out experiments using circle figure 8 trajectories. experiment results show that UAV precisely follows...

The constellations are divided into four seasonal groups. We can see only certain in one season because we cannot the stars during day. However, want to throughout seasons for entertainment or education purpose. To do this, need have ability make any sky. One way is use a drone swarm. In order swarm as stars, extended equatorial coordinate system on previous research and flew drones directions of from an observer's points view using system. Furthermore, calculate direction including...

This paper describes a real-time algorithm of task allocation and trajectory planning for drone swarms. The is designed based on the CAPT algorithm, especially, it allocates tasks considering weights. Also, generates minimum snap trajectories which are dynamically feasible drones multi-rotor types, guarantees collision avoidance between neighboring agents. proposed implemented using various libraries, can be executable in ROS environment, simulation results confirm feasibility algorithm.