Ensuring a consistent and robust data connection to UAVs has become an increasingly critical aspect for safe and effective flight operations, especially with the recent exponential increase in use. Numerous studies ha...
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ISBN:
(纸本)9798350393101;9798350393095
Ensuring a consistent and robust data connection to UAVs has become an increasingly critical aspect for safe and effective flight operations, especially with the recent exponential increase in use. Numerous studies have investigated the impact of interference on conventional communication technologies;however, there is a noticeable gap in research regarding the effects on UAV communication systems. This study addressed this research gap by conducting a comprehensive analysis of how unintentional interference affects the available bandwidth for control and Command (C2) systems. Two evaluation metrics, Bit Error Rate (BER) and the in-phase and quadrature-phase (IQ) constellation diagrams, were used to analyze the effect of interference on the communication quality of C2 systems. This investigation focused on understanding how interference impacts transmitted signals, examining various parameters such as interference signal strength, signal overlap, and modulation schemes. The results demonstrate that interference substantially influences the accessible bandwidth and can result in a decline in overall communication quality. They also show that higher-order modulation schemes are notably vulnerable to the BER degradation induced by interference.
Fully-autonomous vehicles, both aerial and ground, could provide great benefits in the Agriculture 4.0 framework when operating within cooperative architectures, thanks to their ability to tackle difficult tasks, part...
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Fully-autonomous vehicles, both aerial and ground, could provide great benefits in the Agriculture 4.0 framework when operating within cooperative architectures, thanks to their ability to tackle difficult tasks, particularly within complex irregular and unstructured scenarios such as vineyards on sloped terrains. A decentralised multi-phase approach has been proposed as an alternative to more common cooperative schemes. When perennial crops are considered, it is advantageous to build a simplified geometrical (and georefer-enced) crops model, which can be identified by using 3D point clouds acquired during a -priori explorative missions by unmanned aerial vehicles. This model can be used to plan the tasks to be performed within the crops by the in-field aerial and ground drones. In this companion paper, the proposed strategy is applied to a specific case study involving a vineyard on a sloped terrain, located in the Barolo region in Piedmont, Italy. Ad-hoc technologies and guidance, navigation and control algorithms were designed and imple-mented. The main objectives were to improve the autonomous driving capabilities of the drones involved and to automate the process of retrieving low-complexity maps from the data collected with preliminary remote sensing missions to make them available for the autonomous navigation by a quadrotor and an unmanned 4-wheel steering ground vehicle within the vine rows. Preliminary results highlight the benefits achievable by exploiting the tailored technologies selected and applied to improve each of the analysed mission phases. (c) 2021 The Author(s). Published by Elsevier Ltd on behalf of IAgrE. This is an open access article under the CC BY-NC-ND license (http://***/licenses/by-nc-nd/4.0/).
This paper proposes a formation control algorithm based on a flocking approach to coordinate a team of quadrotors. A flock formation control algorithm aims to respect for Reynolds rules (cohesion, alignment and separa...
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ISBN:
(纸本)9781665439947
This paper proposes a formation control algorithm based on a flocking approach to coordinate a team of quadrotors. A flock formation control algorithm aims to respect for Reynolds rules (cohesion, alignment and separation) whereas maintaining a formation shape of unmanned Aerial Vehicles (UAVs) team defined a priori. In the proposed algorithm, the navigation approach for flocking algorithm presented by Olfati-Saber is reformulated for keeping a predefined formation shape, propagating the desired formation in the network using a distributed consensus algorithm, starting from a virtual leader. The proposal is validated using a Model-in-the-Loop (MiL) simulation composed by the linear models of quadrotors and the position, altitude and attitude proportional-derivative controllers. The results obtained were presented and analysed based on graphic resources and metrics for formation control and flocking behaviour algorithms.
This work focuses on the optimization of aerial system controls and the design of autonomous navigation models for dynamic field animal behavior studies. unmanned aerial vehicles (UAVs) can easily traverse remote terr...
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In this paper the physical principles of constructing the automatic tracking system for an optical signal source for an atmospheric communication channel based on tethered high-altitude unmanned platforms are presente...
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A variety of programs allow researchers to conduct tests, visualizations and simulations of local navigation, such as SLAM, obstacle avoidance algorithms and other methods. But the existing solutions do not allow us t...
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The paper describes the development, testing, and implementation of navigation algorithms for unmanned wheeled agricultural vehicles when the navigation equipment consists of a low-precision inertial navigation system...
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Path tracking is fundamental to intelligent navigation. Disturbances and uncertainties are inevitable during ship path tracking. Enhancing the robustness of the controller usually increases the computational costs. Mo...
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The article provides a systematic analysis of problematic issues in the development of unmanned aircraft systems in order to reduce economic and technological risks during developments in this area. During the analysi...
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The safety and security issues of autonomous navigation function become the main obstacles that hinder the widespread applications of self-driving cars and unmannedsystems. In this paper, we investigate the vulnerabi...
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ISBN:
(纸本)9798350354416;9798350354409
The safety and security issues of autonomous navigation function become the main obstacles that hinder the widespread applications of self-driving cars and unmannedsystems. In this paper, we investigate the vulnerability of LiDAR-based localization methods to adversarial attacks. Specifically, we developed a feature-based spoofing attack strategy to degrade the localization performance of LiDAR-based localization algorithms. Reflecting on the vulnerability, we additionally provide a resilient strategy to defend existing LiDAR-based localization methods against this attack. The proposed attack strategy is tested on the KITTI dataset to illustrate its effectiveness.
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