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Micro UAV Swarm for industrial applications in indoor environment – A Systematic Literature Review

Logistics Research 2023年第1期16卷

作者： Awasthi, Shrutarv Fernandez-Cortizas, Miguel Reining, Christopher Arias-Perez, Pedro Luna, Marco Andres Perez-Saura, David Roidl, Moritz Gramse, Nils Klokowski, Patrick Campoy, Pascual Material Handling and Warehousing Technical University Dortmund Joseph-von-Fraunhofer-Straße 2-4 Dortmund44227 Germany Computer Vision and Aerial Robotics Group Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Calle José Gutiérrez Abascal 2 Madrid28006 Spain Joseph-von-Fraunhofer-Straße 2-4 Dortmund Germany

This contribution provides a systematic literature review of micro aerial vehicle (MAV) swarms for indoor industrial applications. First, an initial list of 1997 publications that complies with predefined inclusion criteria was surveyed by reviewers. Next, 185 publications that comply with the Selection Process were analyzed based on localization, control, guidance system, safety and security, MAV charging, communication, artificial intelligence, and applications. The analyzed researches could possibly be deployed in the industrial application of production, logistics and supply chain or transferable into this field. The publications encompassed within this study can be classified under Technology Readiness Level (TRL) 4. Some works do strive to offer solutions tailored to industrial tasks, the validation of their findings predominantly occurs through simulations or controlled laboratory environments. The findings provide an overview of the state-of-the-art specifications, the technologies used by MAVs, trends and outline a future road map for further research from a practitioner’s perspective. © The Author(s) 2023.

关键词： Supply chains

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Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems ⁎

引用

IFAC-PapersOnLine 2024年第6期58卷 60-65页

作者： Jacob R. Goodman Leonardo J. Colombo J. Goodman is with Antonio de Nebrija University Departamento de Informática Escuela Politécnica Superior C. de Sta. Cruz de Marcenado 27 28015 Madrid Spain L. Colombo is with Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey - 28500 Madrid Spain

This paper studies Sufficient conditions in a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of admissible curves, which depends on an artificial potential function used to avoid obstacles. We provide necessary and Sufficient conditions under which the resulting critical points—the so-called modified Riemannian cubics—are local minimizers. We then study the theory of reduction by symmetries of Sufficient conditions for optimality in variational obstacle avoidance problems on Lie groups endowed with a left-invariant metric. This amounts to left-translating the Bi-Jacobi fields described to the Lie algebra, and studying the corresponding bi-conjugate points. New conditions are provided in terms of the invertibility of a certain matrix.

关键词： Variational problems on Riemannian Manifolds Obstacle avoidance Sufficient conditions for optimality Reduction by symmetries

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Detection of Endangered Deer Species Using UAV Imagery: A Comparative Study between Efficient Deep Learning Approaches

Detection of Endangered Deer Species Using UAV Imagery: A Co...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Agustin Roca Gastón Castro Gabriel Torre Leonardo J. Colombo Ignacio Mas Javier Pereira Juan I. Giribet Artificial Intelligence and Robotics Laboratory (LINAR) Universidad de San Andrés Victoria Provincia de Buenos Aires Argentina Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET) Argentina Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey Madrid Spain Museo Argentino Bernardino Rivadavia Capital Federal Argentina

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This study compares the performance of state-of-the-art neural networks including variants of the YOLOv11 and RT-DETR models for detecting marsh deer in UAV imagery, in scenarios where specimens occupy a very small portion of the image and are occluded by vegetation. We extend previous analysis adding precise segmentation masks for our datasets enabling a fine-grained training of a YOLO model with a segmentation head included. Experimental results show the effectiveness of incorporating the segmentation head achieving superior detection performance. This work contributes valuable insights for improving UAV-based wildlife monitoring and conservation strategies through scalable and accurate AI-driven detection systems.

关键词： YOLO Deep learning Training Image segmentation Head Wildlife Neural networks Vegetation mapping Autonomous aerial vehicles Monitoring

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A New Algorithm Using Hybrid UAV Swarm Control System for Firefighting Dynamical Task Allocation

A New Algorithm Using Hybrid UAV Swarm Control System for Fi...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Marco A. Luna Ahmed Refaat Ragab M. Sadeq Ale Isac Pablo Flores Peña Pascual Campoy Cervera CVAR Group Centre for Automation and Robotics Universidad Politécnica de Madrid (CSIC-UPM) Madrid Spain Carlos III University Leganes Madrid CEO for Drone Hopper Company The CVAR Group Centre for Automation and Robotics Universidad Politécnica de Madrid (CSIC-UPM) Madrid Spain

ISBN: (纸本)9781665442084

In recent years, technical advancement and robotic technologies highlight the way for Unmanned Aerial Vehicles (UAVs) researchers to enlarge and increase their capabilities so that many can act as autonomous systems on their own. For this reason, UAV swarming has caught the attention of several researchers. This paper proposes a hybrid swarm control architecture focused on a centralized node to deal with an optimal allocation task problem within firefighting application scenarios. Furthermore, we will apply Jonker-Volgenant auction-based algorithm and present a variation re-enhanced: Iterative Jonker-Volgenant method for our specific new algorithm. The results show robustness in a controlled simulation and computational efficiency for task allocation problems even for many UAVs (approximately 100 UAVs) and target tasks (about 50 targets).

关键词： Heuristic algorithms Autonomous aerial vehicles Approximation algorithms Control systems Robustness Iterative algorithms Resource management

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Machine learning based motion planning approach for intelligent vehicles

Machine learning based motion planning approach for intellig...

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IEEE Symposium on Intelligent Vehicle

作者： Antonio Artuñedo Gabriel Corrales Jorge Villagra Jorge Godoy Centre for Automation and Robotics (CSIC-UPM) Madrid Spain

ISBN: (数字)9781728166735

ISBN: (纸本)9781728166742

The complexity to handle complex situations in automated driving requires increasing computational resources. In this work, we propose a machine learning approach for motion planning aiming at optimizing the set of path candidates to be evaluated in accordance with the driving context. Thus, the computation cost of the whole motion planning strategy can be reduced while generating safe and comfortable trajectories when required. The proposed strategy has been implemented in a real experimental platform and validated in different operating environments, successfully providing high quality trajectories in a small time frame.

关键词： Planning Trajectory Roads Computer architecture Reinforcement learning Computational modeling Acceleration

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Reduction of Necessary Conditions for the Variational Collision Avoidance Problem ⁎

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IFAC-PapersOnLine 2024年第6期58卷 66-70页

作者： Jacob R. Goodman Leonardo J. Colombo J. Goodman is with Antonio de Nebrija University Departamento de Informática Escuela Politécnica Superior C. de Sta. Cruz de Marcenado 27 28015 Madrid Spain L.Colombo is with Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey - 28500 Madrid Spain

In this work, we study the reduction by a Lie group of symmetries of variational collision avoidance probelms of multiple agents evolving on a Riemannian manifold and derive necessary conditions for the reduced extremals. The problem consists of finding non-intersecting trajectories of a given number of agents, among a set of admissible curves, to reach a specified configuration, based on minimizing an energy functional that depends on the velocity, covariant acceleration and an artificial potential function used to prevent collision among the agents.

关键词： Variational problems on Riemannian Manifolds Collision avoidance Potential functions Reduction by symmetries

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Soft Gripper for Small Fruits Harvesting and Pick and Place Operations

SSRN

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SSRN 2023年

作者： Navas, Eduardo Shamshiri, Redmond R. Dworak, Volker Weltzien, Cornelia Fernández, Roemi Centre for Automation and Robotics UPM-CSIC Carretera CAMPO- REAL Km 0.2 Arganda del Rey Madrid28500 Spain Max-Eyth-Allee 100 Potsdam Brandenburg14469 Germany Technische Universität Berlin Straße des 17. Juni 144 Berlin Berlin10623 Germany

Agriculture 4.0 presents several challenges for the automation of various operations, including the fundamental task of harvesting. One of the crucial aspects in the automatic harvesting of high value crops is the grip and detachment of delicate fruits without spoiling them or interfering with the environment. Soft robotic systems, particularly soft grippers, offer a promising solution for this problem, as they can operate in unstructured environments, manipulate objects delicately, and interact safely with humans. In this context, this article presents a soft gripper design for harvesting as well as for pick-and-place operations of small and medium-sized fruits. The gripper is fabricated using the 3D printing technology with a flexible thermoplastic elastomer (TPE) filament. This approach enables the production of an economical, compact, easily replicable, and interchangeable gripper by utilizing soft robotics principles, such as flexible structures and pneumatic actuation. © 2023, The Authors. All rights reserved.

关键词： Grippers

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Spiral coverage path planning for Multi-UAV photovoltaic panel inspection applications

Spiral coverage path planning for Multi-UAV photovoltaic pan...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Marco Andrés Luna Mohammad Sadeq Ale Isaac Miguel Fernandez-Cortizas Carlos Santos Ahmed Refaat Ragab Martin Molina Pascual Campoy Computer Vision and Aerial Robotics Group (CVAR) Centre for Automation and Robotics (C.A.R.) Universidad Politécnica de Madrid (UPM-CSIC) Madrid Spain Department of Signal Theory and Communications University of Alcala (UAH) Madrid Spain Department of Network Faculty of Information Systems and Computer Science October 6 University Giza Egypt Department of Artificial Intelligence Universidad Politécnica de Madrid Madrid Spain

This paper deals with the problem of coverage path planning for multiple UAVs in disjoint regions. For this purpose, a spiral-coverage path planning algorithm is proposed. Additionally, task assignment methods for multi-region inspection with a swarm of UAVs are applied. The centralized system architecture is described, and an adaptive sliding mode controller is designed. Furthermore, we evaluate the performance of the proposed techniques by obtaining numerical results and simulations with the controller. The results show that the spiral pattern optimizes the cost of the mission and improves the task distribution of the mission planning system. Additionally, the performance of the proposed controller is robust to simulated disturbances.

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Higher-Order Retraction Maps and Construction of Numerical Methods for Optimal Control of Mechanical Systems

Higher-Order Retraction Maps and Construction of Numerical M...

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IEEE Conference on Decision and Control

作者： Alexandre Anahory Simoes María Barbero Liñán Leonardo Colombo David Martín de Diego School of Science and Technology IE University Spain Departamento de Matemática Aplicada Universidad Politécnica de Madrid Madrid Spain Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey Madrid Spain Institute of Mathematical Sciences (CSIC-UAM-UCM-UC3M) Madrid Spain

Retractions maps are used to define a discretization of the tangent bundle of the configuration manifold as two copies of the configuration manifold where the dynamics take place. Such discretization maps can be conveniently lifted to a higher-order tangent bundle to construct geometric integrators for the higher-order Euler-Lagrange equations. Given a cost function, an optimal control problem for fully actuated mechanical systems can be understood as a higher-order variational problem. In this paper we introduce the notion of a higher-order discretization map associated with a retraction map to construct geometric integrators for the optimal control of mechanical systems. In particular, we study applications to path planning for obstacle avoidance of a planar rigid body.

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Reduction of Sufficient Conditions in Variational Obstacle Avoidance Problems

arXiv

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arXiv 2023年

作者： Goodman, Jacob R. Colombo, Leonardo J. Antonio de Nebrija University Departamento de Informática Escuela Politécnica Superior C. de Sta. Cruz de Marcenado 27 Madrid28015 Spain Centre for Automation and Robotics CSIC UPM Ctra. M300 Campo Real Km 0200 Arganda del Rey Madrid28500 Spain

This paper studies sufficient conditions in a variational obstacle avoidance problem on complete Riemannian manifolds. That is, we minimize an action functional, among a set of admissible curves, which depends on an artificial potential function used to avoid obstacles. We provide necessary and sufficient conditions under which the resulting critical points—the so-called modified Riemannian cubics—are local minimizers. We then study the theory of reduction by symmetries of sufficient conditions for optimality in variational obstacle avoidance problems on Lie groups endowed with a left-invariant metric. This amounts to left-translating the Bi-Jacobi fields described to the Lie algebra, and studying the corresponding bi-conjugate points. New conditions are provided in terms of the invertibility of a certain matrix. Copyright © 2023, The Authors. All rights reserved.

关键词： Lie groups

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