With the aging of society and the growing number of patients experiencing motor dysfunction, enhancing their quality of life and autonomy has become increasingly *** paper proposes a brain-computer synergistic multi-r...
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Alongside the advancement of navigation, control, and communication technologies, which are fundamental aspects of unmanned underwater vehicles (UUVs), research & development on UUV energy system for long-term mis...
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Alongside the advancement of navigation, control, and communication technologies, which are fundamental aspects of unmanned underwater vehicles (UUVs), research & development on UUV energy system for long-term mission capabilities has been conducted actively since the 2000s. The hydrogen fuel cell energy system (FCES), which is characterized by low noise, air-independent propulsion, and high energy density, has attracted considerable attention as the energy system for UUVs. In this paper, the key features of the components of a hydrogen FCES meant for use in large-class UUVs are presented. In addition, the current technological development status of FCES-powered large-class UUVs is outlined. Finally, the factors that must be considered when designing large-class UUVs powered by hydrogen FCESs are discussed.
LQG (linear Quadratic Gaussian) control is an optimizing control technique able to consider the noise included in the control input and in the output measurement as well. In this paper it is discussed its usage to clo...
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ISBN:
(纸本)9798350357899;9798350357882
LQG (linear Quadratic Gaussian) control is an optimizing control technique able to consider the noise included in the control input and in the output measurement as well. In this paper it is discussed its usage to close the inner control loop of an inner-outer control scheme applied to a quadrotor. The focus is to show that such a controller is efficient in dealing with measurement noise, which degrades the feedback quality, thus affecting the performance of the control system. The proposed control structure adopts an outer control loop based on the inverse kinematics, which produces velocity references for position control, and an inner control loop based on LQG, which controls the attitude and thrust of the vehicle, ensuring that the vehicle velocity converges asymptotically to the velocity reference while keeping the control signals within physical constraints. Experimental results of applying such a control structure to a micro aerial vehicle, Crazyflie 2.1, are presented and discussed, which validate the proposed control system.
unmanned Aerial Vehicles (UAVs) have experienced considerable expansion in civilian applications thanks to their operational simplicity and versatility. This document introduces a distributed navigation strategy tailo...
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ISBN:
(纸本)9798350373981;9798350373974
unmanned Aerial Vehicles (UAVs) have experienced considerable expansion in civilian applications thanks to their operational simplicity and versatility. This document introduces a distributed navigation strategy tailored for UAV formations in conducting post-avalanche search-and-rescue operations. The deployment of UAV formations is identified as a interesting approach with respect to individual UAV operations in environments characterized by dynamism and complexity. This configuration simplifies the allocation of several and different sensors across the formation, reducing the payload on single vehicles, enhancing robustness, and improving overall operational efficiency. The proposed navigation algorithm involves a consensus-based Kalman filter for distributed state estimation. The efficacy of this method was validated through its application in a realistic scenario, demonstrating the capability to identify several victims and preserve situational awareness while circumventing areas yet to be searched. This approach is presented as a viable substitute for search-and-rescue missions that traditionally require significant human involvement.
The utilization of unmanned Aerial Vehicles (UAVs) has revolutionized numerous industries, with navigation being a crucial factor in ensuring their operational success. This literature review examines the subject of U...
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This paper describes the system of synchronous movement of the tethered high-altitude unmanned platform and the ground vehicle with an electric generator, a voltage converter and a control system. The algorithm for th...
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This paper introduces a robust framework for autonomous exploration using UAVs in uncooperative indoor environments, i.e. destroyed, unknown, and with limited visibility. The proposed system integrates a LiDAR-based S...
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ISBN:
(纸本)9798350357899;9798350357882
This paper introduces a robust framework for autonomous exploration using UAVs in uncooperative indoor environments, i.e. destroyed, unknown, and with limited visibility. The proposed system integrates a LiDAR-based Simultaneous Localization and Mapping (SLAM) algorithm, a Euclidian/Truncated Signed Distance Field (E/TSDF) mapping approach, a frontier-based exploration logic, a B-Spline motion planner, and a parallel Collision Avoidance (CA) module to ensure safe and efficient navigation through unexplored areas in realtime. Successful validation in simulated environments demonstrates the system's robustness in handling real-world issues such as odometry uncertainty, depleted point clouds, and intermittent networking in distributed setups.
Due to the advantages of quick response, low cost, and flexible deployment, unmanned aerial vehicle swarms have broad application prospects in the military and civilian fields. Compared with single aircraft, the swarm...
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unmanned traffic management (UTM) is a critical component in the integration of unmanned aircraft systems (UAS) into the national airspace. As UAS operations continue to grow in scale and complexity, the development o...
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ISBN:
(纸本)9798350357899;9798350357882
unmanned traffic management (UTM) is a critical component in the integration of unmanned aircraft systems (UAS) into the national airspace. As UAS operations continue to grow in scale and complexity, the development of a robust UTM ecosystem becomes essential to ensure the safety and security of the airspace. This survey aims to explore the current state of UTM technology, policies, and procedures, as well as the challenges and opportunities facing the UTM ecosystem. It will review the existing UTM architectures and frameworks, such as those developed by the Federal Aviation Administration (FAA) and the European Union's U-space initiative (U-SPACE), and evaluate their effectiveness in managing UAS operations. Furthermore, it will also examine the key UTM service providers and their offerings, including UAS traffic management systems (UTM systems), communication and navigationsystems, and airspace management services. Additionally, it will explore the role of government agencies, UAS operators, and technology providers in the development and implementation of UTM solutions. At last, the author of this paper discuss V2X communication threats related to UTM. By providing a comprehensive overview of the current state of UTM, this study will contribute to a better understanding of the challenges and opportunities in the UTM ecosystem and inform the development of future UTM solutions.
A deep reinforcement learning-based control framework has been proposed in this paper to achieve autonomous navigation and control of a quadrotor. Cascaded reinforcement learning agents form the control framework. Fir...
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ISBN:
(纸本)9798350310375
A deep reinforcement learning-based control framework has been proposed in this paper to achieve autonomous navigation and control of a quadrotor. Cascaded reinforcement learning agents form the control framework. First, a path following (PF) agent controls the quadrotor's tracking behavior by directly mapping environment states into motor commands. The second agent modifies the desired path to avoid any detected obstacles along the path. The obstacle avoidance (OA) agent achieves this task by adding an offset distance deflection to the tracking error before sending it to the path-following agent. Generalization of the obstacle avoidance behavior in three-dimensional space was achieved by the usage of frame transformation. The two agents were trained using the "Twin Delayed Deep Deterministic Policy Gradient" (TD3) algorithm, and the developed framework succeeded in avoiding multiple obstacles of different sizes and configurations in simulation.
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