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Cooperative digital magnetic-elevation maps by small autonomous aerial robots

JOURNAL OF FIELD robotics 2019年第8期36卷 1378-1398页

作者： Azpurua, Hector Potje, Guilherme A. Rezeck, Paulo A. F. Freitas, Gustavo M. Garcia, Luis G. Uzeda Nascimento, Erickson R. Macharet, Douglas G. Campos, Mario F. M. ITV Robot & Control Ouro Preto MG Brazil Univ Fed Minas Gerais Dept Comp Sci Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Elect Engn Belo Horizonte MG Brazil Nokia Bell Labs Paris France

One of the steps to provide fundamental data for planning a mining effort is the magnetic surveying of a target area, which is typically carried out by conventional aircraft campaigns. However, besides the high cost, fixed-wing aerial vehicles present shortcomings especially for drape flights on mountainous regions, where steep slopes are often present. Traditional human-crewed flights have to perform tedious and dangerous trajectories, under strict velocity and attitude constraints. In this paper, we deal with the problem of accomplishing digital magnetic-elevation maps using autonomous and cooperative aerial robots. The proposed approach for autonomous mapping utilizes a custom-built fluxgate sensor and off the shelf cameras adapted for small airborne platforms. We also propose an innovative approach for generating a digital magnetic-elevation model from the gathered data. Our method was evaluated and validated in field tests in an industrial scenario to detect scrap metals in ore piles. Results show that the proposed method could reliably detect magnetic anomalies while generating accurate three-dimensional magnetic maps.

关键词： aerial robotics cooperative robots mining magnetic mapping magnetic elevation map

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Remote sensing and identification of volcanic plumes using fixed-wing UAVs over Volcan de Fuego, Guatemala

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JOURNAL OF FIELD robotics 2019年第7期36卷 1192-1211页

作者： Schellenberg, Ben Richardson, Tom Watson, Matt Greatwood, Colin Clarke, Robert Thomas, Rick Wood, Kieran Freer, Jim Thomas, Helen Liu, Emma Salama, Francis Chigna, Gustavo Univ Bristol Dept Aerosp Engn Bristol BS8 1TR Avon England Univ Bristol Sch Earth Sci Bristol Avon England Univ Birmingham Sch Geog Earth & Environm Sci Birmingham W Midlands England Univ Bristol Sch Geog Sci Bristol Avon England Univ Cambridge Dept Earth Sci Cambridge England BlueBear Syst Bedford England Edificio Cent INSIVUMEH Guatemala City Guatemala

This paper describes a series of proof-of-concept Beyond Visual Line Of Sight unmanned aerial vehicle flights which reached a range of up to 9 km and an altitude of 4,410 m Above Mean Sea Level over Volcan de Fuego in Guatemala, interacting with the volcanic plume on multiple occasions across a range of different conditions. Volcan de Fuego is an active volcano which emits gas and ash regularly, causing disruption to airlines operating from the international airport 50 km away and impacting the lives of the local population. Collection of data from within the plume develops scientists' understanding of the composition of the volcano's output and is of use to scientists, aviation, and hazard management groups alike. This paper presents preliminary results of multiple plume interceptions with multiple aircraft, carrying a variety of sensors. A plume-detection metric is introduced, which uses a combination of flight data and atmospheric sensor data to identify flight through a volcanic plume. Future work will develop the automation of plume tracking such that reliable scientific data sets can be gathered in a robust manner.

关键词： aerial robotics environmental monitoring

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aerial Multi-Camera Robotic Jib Crane

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IEEE robotics AND AUTOMATION LETTERS 2021年第2期6卷 4104-4109页

作者： Moreno, Patricio Presenza, Juan F. Mas, Ignacio Giribet, Juan, I Univ Buenos Aires UBA Fac Ingn Dept Ingn Elect Lab Automat & RobotLAR FI UBA RA-1425 Buenos Aires DF Argentina LAR FI UBA Grp Redes Complejas & Comunicac Datos CNet RA-1425 Buenos Aires DF Argentina Consejo Nacl Invest Cient & Tecn RA-1106 Buenos Aires DF Argentina Inst Tecnol Buenos Aires ITBA RA-1106 Buenos Aires DF Argentina LAR FI UBA RA-1063 Buenos Aires DF Argentina Consejo Nacl Invest Cient & Tecn RA-1063 Buenos Aires DF Argentina

A formulation based on a team of unmanned aerial vehicles operating as a fully articulated multi-camera jib crane is proposed for the application of aerial cinematography. An optimization-based controller commands the formation to follow an artistic trajectory defined by the director of photography, while actively avoiding collisions and cameras' mutual visibility. The proposed scheme, based on the cluster-space formulation, presents an intuitive way of maneuvering the virtual camera fixture while automatically adjusting the motions by imposing artistic and safety constraints, facilitating the operator task.

关键词： aerial videography aerial robotics autonomous cinematography cluster-space control multi-robot systems

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UAV-borne X-band radar for collision avoidance

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ROBOTICA 2014年第1期32卷 97-114页

作者： Moses, Allistair Rutherford, Matthew J. Kontitsis, Michail Valavanis, Kimon P. Univ Denver Dept Elect & Comp Engn Denver CO USA Univ Denver Dept Comp Sci Denver CO 80208 USA

The increased use of unmanned aerial vehicles (UAVs) is coincidentally accompanied by a notable lack of sensors suitable for enabling further improvement in levels of autonomy and, consequently, integration into the National Airspace System (NAS). The majority of available sensors suitable for UAV integration into the NAS are based on infrared detectors, focal plane arrays, optical and ultrasonic rangefinders, etc. These sensors are generally not able to detect or identify other UAV-sized targets and, when detection is possible, considerable computational power is typically required for successful identification. Furthermore, the performance of visual-range optical sensor systems may suffer when operating under conditions that are typically encountered during search and rescue, surveillance, combat, and most other common UAV applications. However, the addition of a miniature RADAR sensor can, in consort with other sensors, provide comprehensive target detection and identification capabilities for UAVs. This trend is observed in manned aviation where RADAR sensors are the primary on-board detection and identification sensors. In this paper, a miniature, lightweight X-band RADAR sensor for use on a miniature (710-mm rotor diameter) rotorcraft is described. We present an analysis of the performance of the RADAR sensor in a realistic scenario with two UAVs. Additionally, an analysis of UAV navigation and collision avoidance behaviors is performed to determine the effect of integrating RADAR sensors into UAVs. Further study is also performed to demonstrate the scalability of the RADAR for use with larger UAV classes.

关键词： Sensor or actuator design aerial robotics Mechatronic systems Mobile robots Navigation

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6D interaction control with aerial robots: The flying end-effector paradigm

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2019年第9期38卷 1045-1062页

作者： Ryll, Markus Muscio, Giuseppe Pierri, Francesco Cataldi, Elisabetta Antonelli, Gianluca Caccavale, Fabrizio Bicego, Davide Franchi, Antonio Univ Toulouse CNRS LAAS CNRS 7 Ave Colonel Roche F-72076 Toulouse France Univ Basilicata Sch Engn Potenza Italy Univ Cassino & Southern Lazio Cassino Italy

This paper presents a novel paradigm for physical interactive tasks in aerial robotics allowing reliability to be increased and weight and costs to be reduced compared with state-of-the-art approaches. By exploiting its tilted propeller actuation, the robot is able to control the full 6D pose (position and orientation independently) and to exert a full-wrench (force and torque independently) with a rigidly attached end-effector. Interaction is achieved by means of an admittance control scheme in which an outer loop control governs the desired admittance behavior (i.e., interaction compliance/stiffness, damping, and mass) and an inner loop based on inverse dynamics ensures full 6D pose tracking. The interaction forces are estimated by an inertial measurement unit (IMU)-enhanced momentum-based observer. An extensive experimental campaign is performed and four case studies are reported: a hard touch and slide on a wooden surface, called the sliding surface task;a tilted peg-in-hole task, i.e., the insertion of the end-effector in a tilted funnel;an admittance shaping experiment in which it is shown how the stiffness, damping, and apparent mass can be modulated at will;and, finally, the fourth experiment is to show the effectiveness of the approach also in the presence of time-varying interaction forces.

关键词： aerial robotics aerial physical interaction aerial manipulation

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Stable camera position control of unmanned aerial vehicle with three-degree-of-freedom manipulator for visual test of bridge inspection

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JOURNAL OF FIELD robotics 2019年第7期36卷 1212-1221页

作者： Ikeda, Takahiro Minamiyama, Satoshi Yasui, Shogo Ohara, Kenichi Ichikawa, Akihiko Ashizawa, Satoshi Okino, Akihisa Oomichi, Takeo Fukuda, Toshio Meijo Univ Dept Mechatron Engn Nagoya Aichi Japan OKINO IND LTD Saitama Japan

This paper describes a camera position control with aerial manipulator for visual test of bridge inspection. Our developed unmanned aerial vehicle (UAV) has three-degree-of-freedom (3-DoF) manipulator on its top to execute visual or hammering test of the inspection. This paper focuses on the visual test. A camera was implemented at the end of the manipulator to acquire images of the narrow space of the bridge such as bearings, which the conventional UAV without the camera-attached manipulators at its top cannot achieve the fine visual test. For the visual test, it is desirable that the camera is above the body with enough distance between the camera and the body. As obvious, the camera position in the inertial coordinate system is effected by the movement of the body. Therefore we implement the camera position control compensating the body movement into the UAV. As a result of an experiment, it is assessed that the proposed control reduces the position error of the camera comparing the one of the body. The mean position error of the camera is 0.039 m that is 51.4% of the one of the body. Our world-first study enables to acquire the image of the bearing of the bridge by a camera mounted at the end effector of aerial manipulator fixed on UAV.

关键词： aerial robotics bridge inspection control visual inspection

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Localization of emergency acoustic sources by micro aerial vehicles

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JOURNAL OF FIELD robotics 2018年第2期35卷 187-201页

作者： Basiri, Meysam Schill, Felix Lima, Pedro U. Floreano, Dario Ecole Polytech Fed Lausanne Lab Intelligent Syst CH-1015 Lausanne Switzerland Ecole Polytech Fed Lausanne Lausanne Switzerland Inst Super Tecn Inst Syst & Robot Lisbon Portugal

For micro aerial vehicles (MAVs) involved in search and rescue missions, the ability to locate the source of a distress sound signal is significantly important and allows fast localization of victims and rescuers during nighttime, through foliage and in dust, fog, and smoke. Most emergency sound sources, such as safety whistles and personal alarms, generate a narrowband signal that is difficult to localize by human listeners or with the common localization methods suitable for broadband sounds. In this paper, we present three methods for MAV-based emergency sound localization system. The first method involves designing a new emergency source for immediate localization by the MAV using a common localization method. The other two novel methods allow localizing the currently available emergency sources, or other narrowband sounds in general, that are difficult to localize due to the periodicity in the sequence of sound samples. The second method exploits the Doppler shift in the sound frequency, caused due to the motion of the MAV and the dynamics of the MAV to assist with the localization. The third method involves active control of the robot's attitude and fusing acoustic and attitude measurements for achieving accurate and robust estimates. We evaluate our methods in real-world experiments with real flying robots.

关键词： aerial robotics emergency response

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Autonomous aerial cinematography in unstructured environments with learned artistic decision-making

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JOURNAL OF FIELD robotics 2020年第4期37卷 606-641页

作者： Bonatti, Rogerio Wang, Wenshan Ho, Cherie Ahuja, Aayush Gschwindt, Mirko Camci, Efe Kayacan, Erdal Choudhury, Sanjiban Scherer, Sebastian Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA Tech Univ Munich Dept Comp Sci Munich Germany Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore Singapore Aarhus Univ Dept Engn Aarhus Denmark Univ Washington Dept Comp Sci Seattle WA 98195 USA

aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is immensely taxing, often requiring multiple expert human operators. Hence, there is a demand for an autonomous cinematographer that can reason about both geometry and scene context in real-time. Existing approaches do not address all aspects of this problem;they either require high-precision motion-capture systems or global positioning system tags to localize targets, rely on prior maps of the environment, plan for short time horizons, or only follow fixed artistic guidelines specified before the flight. In this study, we address the problem in its entirety and propose a complete system for real-time aerial cinematography that for the first time combines: (a) vision-based target estimation;(b) 3D signed-distance mapping for occlusion estimation;(c) efficient trajectory optimization for long time-horizon camera motion;and (d) learning-based artistic shot selection. We extensively evaluate our system both in simulation and in field experiments by filming dynamic targets moving through unstructured environments. Our results indicate that our system can operate reliably in the real world without restrictive assumptions. We also provide in-depth analysis and discussions for each module, with the hope that our design tradeoffs can generalize to other related applications. Videos of the complete system can be found at .

关键词： aerial robotics cinematography computer vision learning mapping motion planning

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An automated heterogeneous robotic system for radiation surveys: Design and field testing

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JOURNAL OF FIELD robotics 2021年第5期38卷 657-683页

作者： Gabrlik, Petr Lazna, Tomas Jilek, Tomas Sladek, Petr Zalud, Ludek Brno Univ Technol Cent European Inst Technol Cybernet Mat Sci Res Grp Brno Czech Republic Univ Def NBC Def Inst Chem & Radiat Def Dept Vyskov Czech Republic

During missions involving radiation exposure, unmanned robotic platforms may embody a valuable tool, especially thanks to their capability of replacing human operators in certain tasks to eliminate the health risks associated with such an environment. Moreover, rapid development of the technology allows us to increase the automation rate, making the human operator generally less important within the entire process. This article presents a multirobotic system designed for highly automated radiation mapping and source localization. Our approach includes a three-phase procedure comprising sequential deployment of two diverse platforms, namely, an unmanned aircraft system (UAS) and an unmanned ground vehicle (UGV), to perform aerial photogrammetry, aerial radiation mapping, and terrestrial radiation mapping. The central idea is to produce a sparse dose rate map of the entire study site via the UAS and, subsequently, to perform detailed UGV-based mapping in limited radiation-contaminated regions. To accomplish these tasks, we designed numerous methods and data processing algorithms to facilitate, for example, digital elevation model-based terrain following for the UAS, automatic selection of the regions of interest, obstacle map-based UGV trajectory planning, and source localization. The overall usability of the multirobotic system was demonstrated by means of a 1-day, authentic experiment, namely, a fictitious car accident including the loss of several radiation sources. The ability of the system to localize radiation hotspots and individual sources has been verified.

关键词： aerial robotics cooperative robots environmental monitoring radiation mapping terrestrial robotics

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Deep neural networks as add-on modules for enhancing robot performance in impromptu trajectory tracking

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INTERNATIONAL JOURNAL OF robotics RESEARCH 2020年第12期39卷 1397-1418页

作者： Zhou, Siqi Helwa, Mohamed K. Schoellig, Angela P. Univ Toronto Inst Aerosp Studies Toronto ON Canada Cairo Univ Elect Power & Machines Dept Cairo Egypt

High-accuracy trajectory tracking is critical to many robotic applications, including search and rescue, advanced manufacturing, and industrial inspection, to name a few. Yet the unmodeled dynamics and parametric uncertainties of operating in such complex environments make it difficult to design controllers that are capable of accurately tracking arbitrary, feasible trajectories from the first attempt (i.e., impromptu trajectory tracking). This article proposes a platform-independent, learning-based "add-on" module to enhance the tracking performance of black-box control systems in impromptu tracking tasks. Our approach is to pre-cascade a deep neural network (DNN) to a stabilized baseline control system, in order to establish an identity mapping from the desired output to the actual output. Previous research involving quadrotors showed that, for 30 arbitrary hand-drawn trajectories, the DNN-enhancement control architecture reduces tracking errors by 43% on average, as compared with the baseline controller. In this article, we provide a platform-independent formulation and practical design guidelines for the DNN-enhancement approach. In particular, we: (1) characterize the underlying function of the DNN module;(2) identify necessary conditions for the approach to be effective;(3) provide theoretical insights into the stability of the overall DNN-enhancement control architecture;(4) derive a condition that supports data-efficient training of the DNN module;and (5) compare the novel theory-driven DNN design with the prior trial-and-error design using detailed quadrotor experiments. We show that, as compared with the prior trial-and-error design, the novel theory-driven design allows us to reduce the input dimension of the DNN by two thirds while achieving similar tracking performance.

关键词： Motion control learning and adaptive systems aerial robotics trajectory tracking neural networks

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