scholarly journals A Hybrid Visual-Based SLAM Architecture: Local Filter-Based SLAM with KeyFrame-Based Global Mapping

Sensors ◽  
2021 ◽  
Vol 22 (1) ◽  
pp. 210
Author(s):  
Rodrigo Munguia ◽  
Juan-Carlos Trujillo ◽  
Edmundo Guerra ◽  
Antoni Grau
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Main Idea ◽  
Real Data ◽  
Closure Problem ◽  
Loop Closure ◽  
Sensory Inputs ◽  
Aerial Vehicles ◽  
Global Mapping

This work presents a hybrid visual-based SLAM architecture that aims to take advantage of the strengths of each of the two main methodologies currently available for implementing visual-based SLAM systems, while at the same time minimizing some of their drawbacks. The main idea is to implement a local SLAM process using a filter-based technique, and enable the tasks of building and maintaining a consistent global map of the environment, including the loop closure problem, to use the processes implemented using optimization-based techniques. Different variants of visual-based SLAM systems can be implemented using the proposed architecture. This work also presents the implementation case of a full monocular-based SLAM system for unmanned aerial vehicles that integrates additional sensory inputs. Experiments using real data obtained from the sensors of a quadrotor are presented to validate the feasibility of the proposed approach.

Delivery of Special Cargoes Using the Unmanned Aerial Vehicles

2019 ◽  
pp. 33-63
Author(s):  
Kristina Marintseva ◽  
Gennadiy Yun ◽  
Igor Vasilenko
Keyword(s):  
Mathematical Modeling ◽  
Unmanned Aerial Vehicles ◽  
Carrying Capacity ◽  
Main Idea ◽  
Unmanned Aircraft ◽  
Route Network ◽  
Aerial Vehicles ◽  
Perishable Goods ◽  
Logistics Company ◽  
Freight Forwarder

This chapter presents the role, functions, and prospects of civil unmanned aerial vehicles development, as well as technical and regulatory barriers to the introduction of unmanned aircraft into special cargo transportation technology. The authors' main idea is that the degree of UAV involvement in freight traffic will continue to grow rapidly as the range of UAV flight and carrying capacity increases, and the air law is liberalized. It is proposed to evaluate the economic efficiency of UAV application and their share in the market for the transportation of urgent and perishable goods using the methodology based on the principles of logistics and mathematical modeling. In the formulated model, the process of special cargoes delivery by unmanned aerial vehicles is integrated into the supply chain by all modes of transport along the set route network, taking into account the requirements formulated by the freight forwarder, carrier, and logistics company.

Delivery of Special Cargoes Using the Unmanned Aerial Vehicles

2021 ◽  
pp. 1564-1587
Author(s):  
Kristina Marintseva ◽  
Gennadiy Yun ◽  
Igor Vasilenko
Keyword(s):  
Mathematical Modeling ◽  
Unmanned Aerial Vehicles ◽  
Carrying Capacity ◽  
Main Idea ◽  
Unmanned Aircraft ◽  
Route Network ◽  
Aerial Vehicles ◽  
Perishable Goods ◽  
Logistics Company ◽  
Freight Forwarder

This chapter presents the role, functions, and prospects of civil unmanned aerial vehicles development, as well as technical and regulatory barriers to the introduction of unmanned aircraft into special cargo transportation technology. The authors' main idea is that the degree of UAV involvement in freight traffic will continue to grow rapidly as the range of UAV flight and carrying capacity increases, and the air law is liberalized. It is proposed to evaluate the economic efficiency of UAV application and their share in the market for the transportation of urgent and perishable goods using the methodology based on the principles of logistics and mathematical modeling. In the formulated model, the process of special cargoes delivery by unmanned aerial vehicles is integrated into the supply chain by all modes of transport along the set route network, taking into account the requirements formulated by the freight forwarder, carrier, and logistics company.

scholarly journals Integrating Cognitive Radio with Unmanned Aerial Vehicles: An Overview

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 830
Author(s):  
Guilherme Marcel Dias Santana ◽  
Rogers Silva de Cristo ◽  
Kalinka Regina Lucas Jaquie Castelo Branco
Keyword(s):  
Cognitive Radio ◽  
Unmanned Aerial Vehicles ◽  
Smart Cities ◽  
Low Cost ◽  
Real Data ◽  
Base Stations ◽  
Communication Performance ◽  
Transmission Frequency ◽  
Aerial Vehicles ◽  
Future Challenges

Unmanned Aerial Vehicles (UAVs) demand technologies so they can not only fly autonomously, but also communicate with base stations, flight controllers, computers, devices, or even other UAVs. Still, UAVs usually operate within unlicensed spectrum bands, competing against the increasing number of mobile devices and other wireless networks. Combining UAVs with Cognitive Radio (CR) may increase their general communication performance, thus allowing them to execute missions where the conventional UAVs face limitations. CR provides a smart wireless communication which, instead of using a transmission frequency defined in the hardware, uses software transmission. CR smartly uses free transmission channels and/or chooses them according to application’s requirements. Moreover, CR is considered a key enabler for deploying technologies that require high connectivity, such as Smart Cities, 5G, Internet of Things (IoT), and the Internet of Flying Things (IoFT). This paper presents an overview on the field of CR for UAV communications and its state-of-the-art, testbed alternatives for real data experiments, as well as specifications to build a simple and low-cost testbed, and indicates key opportunities and future challenges in the field.

Robust L∞ convex optimisation for UAVs cooperative motion estimation

2016 ◽  
Vol 231 (11) ◽  
pp. 2006-2031
Author(s):  
Mohammed Boulekchour ◽  
Nabil Aouf ◽  
Mark Richardson
Keyword(s):  
Motion Estimation ◽  
Unmanned Aerial Vehicles ◽  
Visual Motion ◽  
Monocular Vision ◽  
Computational Time ◽  
Vision Systems ◽  
Loop Closure ◽  
Cooperative Motion ◽  
Aerial Vehicles ◽  
Convex Optimisation

In this paper, a system for real-time cooperative monocular visual motion estimation with multiple unmanned aerial vehicles is proposed. Distributing the system across a network of vehicles allows for efficient processing in terms of both computational time and estimation accuracy. The resulting global cooperative motion estimation employs state-of-the-art approaches for optimisation, individual motion estimation and registration. Three-view geometry algorithms are developed within a convex optimisation framework on-board the monocular vision systems of each vehicle. In the presented novel distributed cooperative strategy a visual loop-closure module is deployed to detect any simultaneously overlapping fields of view of two or more of the vehicles. A positive feedback from the latter module triggers the collaborative motion estimation algorithm between any vehicles involved in this loop-closure. This scenario creates a flexible stereo set-up which jointly optimises the motion estimates of all vehicles in the cooperative scheme. Prior to that, vehicle-to-vehicle relative pose estimates are recovered with a novel robust registration solution in a global optimisation framework. Furthermore, as a complementary solution, a robust non-linear H∞filter is designed to fuse measurements from the vehicles’ on-board inertial sensors with the visual estimates. The proposed cooperative navigation solution has been validated on real-world data, using two unmanned aerial vehicles equipped with monocular vision systems.

scholarly journals Autonomous Integrity Monitoring for Relative Navigation of Multiple Unmanned Aerial Vehicles

2021 ◽  
Vol 13 (8) ◽  
pp. 1483
Author(s):  
Yuan Sun
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Real Data ◽  
Wide Band ◽  
Relative Navigation ◽  
Monitoring Method ◽  
Integrity Monitoring ◽  
Position Information ◽  
Aerial Vehicles ◽  
Multiple Unmanned Aerial Vehicles ◽  
Multi Uav

Accurate and reliable relative navigation is the prerequisite to guarantee the effectiveness and safety of various multiple Unmanned Aerial Vehicles (UAVs) cooperation tasks, when absolute position information is unavailable or inaccurate. Among the UAV navigation techniques, Global Navigation Satellite System (GNSS) is widely used due to its worldwide coverage and simplicity in relative navigation. However, the observations of GNSS are vulnerable to different kinds of faults arising from transmission degradation, ionospheric scintillations, multipath, spoofing, and many other factors. In an effort to improve the reliability of multi-UAV relative navigation, an autonomous integrity monitoring method is proposed with a fusion of double differenced GNSS pseudoranges and Ultra Wide Band (UWB) ranging units. Specifically, the proposed method is designed to detect and exclude the fault observations effectively through a consistency check algorithm in the relative positioning system of the UAVs. Additionally, the protection level for multi-UAV relative navigation is estimated to evaluate whether the performance meets the formation flight and collision avoidance requirements. Simulated experiments derived from the real data are designed to verify the effectiveness of the proposed method in autonomous integrity monitoring for multi-UAV relative navigation.

Development of thickened semi-synthetic engine oil M-5z / 20 AERO for four-stroke gasoline engines aircraft piston of unmanned aerial vehicles (UAVs)

2020 ◽  
Vol 06 ◽  
pp. 44-47
Author(s):  
A.A. Moykin ◽  
◽  
A.S. Medzhibovsky ◽  
S.A. Kriushin ◽  
M.V. Seleznev ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Engine Oil ◽  
Motor Oil ◽  
Gasoline Engines ◽  
State Research Institute ◽  
Technical Requirements ◽  
Aerial Vehicles ◽  
State Research ◽  
Industrial Batch ◽  
The Russian Federation

Nowadays, the creation of remotely-piloted aerial vehicles for various purposes is regarded as one of the most relevant and promising trends of aircraft development. FAU "25 State Research Institute of Chemmotology of the Ministry of Defense of the Russian Federation" have studied the operation features of aircraft piston engines and developed technical requirements for motor oil for piston four-stroke UAV engines, as well as a new engine oil M-5z/20 AERO in cooperation with NPP KVALITET, LLC. Based on the complex of qualification tests, the stated operational properties of the experimental-industrial batch of M-5z/20 AERO oil are generally confirmed.

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