Indoor Navigation Strategies For Aerial Autonomous Systems

Author : Pedro Castillo-Garcia
Publisher : Butterworth-Heinemann
ISBN 13 : 0128053399
Total Pages : 300 pages
Book Rating : 4.93/5 ( download)

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Download or read book Indoor Navigation Strategies for Aerial Autonomous Systems written by Pedro Castillo-Garcia and published by Butterworth-Heinemann. This book was released on 2016-11-10 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt: Indoor Navigation Strategies for Aerial Autonomous Systems presents the necessary and sufficient theoretical basis for those interested in working in unmanned aerial vehicles, providing three different approaches to mathematically represent the dynamics of an aerial vehicle. The book contains detailed information on fusion inertial measurements for orientation stabilization and its validation in flight tests, also proposing substantial theoretical and practical validation for improving the dropped or noised signals. In addition, the book contains different strategies to control and navigate aerial systems. The comprehensive information will be of interest to both researchers and practitioners working in automatic control, mechatronics, robotics, and UAVs, helping them improve research and motivating them to build a test-bed for future projects. Provides substantial information on nonlinear control approaches and their validation in flight tests Details in observer-delay schemes that can be applied in real-time Teaches how an IMU is built and how they can improve the performance of their system when applying observers or predictors Improves prototypes with tactics for proposed nonlinear schemes

Author :
Publisher :
ISBN 13 :
Total Pages : 30 pages
Book Rating : 4.00/5 ( download)

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Download or read book Indoor Navigation for Unmanned Aerial Vehicles written by and published by . This book was released on 2009 with total page 30 pages. Available in PDF, EPUB and Kindle. Book excerpt: The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environment are especially difficult for an Unmanned Aerial Vehicle (UAV) due to the complexity of UAV attitude and motion dynamics, as well as interference from external influences such as wind. By using a stable vehicle platform and taking advantage of the geometric structure typical of most indoor environments, the complexity of the localization and mapping problem can be reduced. Interior wall and obstacle location can be measured using low-cost range sensors. Relative vehicle location within the mapped environment can then be determined. By alternating between mapping and localization, a vehicle can explore its environment autonomously. This paper examines available low-cost range sensors for suitability in solving the mapping and localization problem. A control system and navigation algorithm are developed to perform mapping of indoor environments and localization. Simulation and experimental results are provided to determine feasibility of the proposed approach to indoor navigation.

Author : Kamal Jain
Publisher : Springer Nature
ISBN 13 : 3031193091
Total Pages : 602 pages
Book Rating : 4.95/5 ( download)

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Download or read book Proceedings of UASG 2021: Wings 4 Sustainability written by Kamal Jain and published by Springer Nature. This book was released on 2023-03-15 with total page 602 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume gathers the latest advances, innovations, and applications in the field of geographic information systems and unmanned aerial vehicle (UAV) technologies, as presented by leading researchers and engineers at the 2nd International Conference on Unmanned Aerial System in Geomatics (UASG), held in Roorkee, India on April 2-4, 2021. It covers highly diverse topics, including photogrammetry and remote sensing, surveying, UAV manufacturing, geospatial data sensing, UAV processing, visualization, and management, UAV applications and regulations, geo-informatics and geomatics. The contributions, which were selected by means of a rigorous international peer-review process, highlight numerous exciting ideas that will spur novel research directions and foster multidisciplinary collaboration among different specialists.

Author : Emanuele Menegatti
Publisher : Springer
ISBN 13 : 3319083384
Total Pages : 1669 pages
Book Rating : 4.84/5 ( download)

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Download or read book Intelligent Autonomous Systems 13 written by Emanuele Menegatti and published by Springer. This book was released on 2015-09-03 with total page 1669 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences commenced in 1986 and represents a premiere event in robotics.

Author : Shaojie Shen
Publisher :
ISBN 13 :
Total Pages : 350 pages
Book Rating : 4.46/5 ( download)

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Download or read book Autonomous Navigation in Complex Indoor and Outdoor Environments with Micro Aerial Vehicles written by Shaojie Shen and published by . This book was released on 2014 with total page 350 pages. Available in PDF, EPUB and Kindle. Book excerpt: Micro aerial vehicles (MAVs) are ideal platforms for surveillance and search and rescue in confined indoor and outdoor environments due to their small size, superior mobility, and hover capability. In such missions, it is essential that the MAV is capable of autonomous flight to minimize operator workload. Despite recent successes in commercialization of GPS-based autonomous MAVs, autonomous navigation in complex and possibly GPS-denied environments gives rise to challenging engineering problems that require an integrated approach to perception, estimation, planning, control, and high level situational awareness. Among these, state estimation is the first and most critical component for autonomous flight, especially because of the inherently fast dynamics of MAVs and the possibly unknown environmental conditions. In this thesis, we present methodologies and system designs, with a focus on state estimation, that enable a light-weight off-the-shelf quadrotor MAV to autonomously navigate complex unknown indoor and outdoor environments using only onboard sensing and computation. We start by developing laser and vision-based state estimation methodologies for indoor autonomous flight. We then investigate fusion from heterogeneous sensors to improve robustness and enable operations in complex indoor and outdoor environments. We further propose estimation algorithms for on-the-fly initialization and online failure recovery. Finally, we present planning, control, and environment coverage strategies for integrated high-level autonomy behaviors. Extensive online experimental results are presented throughout the thesis. We conclude by proposing future research opportunities.

Author : Ankit Agarwal
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.35/5 ( download)

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Download or read book Evaluation of a Commercially Available Visual-Inertial Odometry Solution for Indoor Navigation written by Ankit Agarwal and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Heightened public interest in Unmanned Aerial Systems (UAS) has led recently to a rapid increase in both the number and diversity of small- to medium-sized vehicles in the public airspace. With many of these UAS boasting autonomous capabilities such as hands-free flying and obstacle avoidance, safe and accurate autonomous localization and navigation remains critically important. Various technologies have been developed to solve the problem of accurate localization in an unknown airspace, but highly accurate vision-based navigation solutions continue to see rapid development due to the added challenges posed by indoor navigation. Namely, the lack of a reliable GPS connection in indoor environments proves challenging for precise maneuvering, and many of the highest-fidelity alternatives to GPS-based localization are heavy, expensive, and difficult to implement. Growing consumer and commercial adoption of Virtual and Augmented Reality technologies has led to a sharp increase in the number of compact localization solutions available to the public, and the capabilities of these devices conveniently make them choice candidates in solving the challenges of accurate indoor navigation. In the present study, a UAS navigation solution using the Intel RealSense T265, a commercially available Visual-Inertial Odometry (VIO) device, is developed and presented for the purpose of characterizing indoor localization performance. The goal of the study is to determine whether the localization fidelity of a compact and inexpensive VIO solution is sufficiently high to support safe and reliable autonomy of small indoor aerial vehicles. Position and heading data from the T265 are analyzed in their raw form and also after correction using an Extended Kalman Filter (EKF). These data are gathered by way of a hand-carry test, and are compared to ground truth measurements obtained via a Vicon motion capture system. Additionally, a closed-loop flight test is performed outside of a motion capture room for concept validation purposes and to evaluate the convergence and command tracking capability of the EKF-based navigation system. Results from hand-carry testing examined both the raw data from the T265 and the combined data using the EKF. Localization estimates from the device gathered immediately after initialization are highly inaccurate, but the raw data improves significantly as the VIO device continues to operate and gather information about its environment. The device may indeed prove sufficiently accurate for precision maneuvering applications, but only once it has been running for some time. These findings also suggest that the device may perform well when combined with additional sensors (such as LiDAR) that can "correct" the initial pose estimates and reduce the time required to provide an accurate solution. Further localization improvements may also be achievable with varied software configurations. The performance of the Extended Kalman Filter during the closed-loop flight is also evaluated, and while the EKF does not significantly improve position estimates while the raw device data is still inaccurate, it shows smoothing of noisy T265 measurements and generally precise trajectory following capabilities. Future work to extend this characterization shall involve testing the performance of the device across varying flight envelopes, and especially for longer durations.

Author : Jan Mazal
Publisher : Springer
ISBN 13 : 3319760726
Total Pages : 452 pages
Book Rating : 4.28/5 ( download)

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Download or read book Modelling and Simulation for Autonomous Systems written by Jan Mazal and published by Springer. This book was released on 2018-03-06 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the 4th International Workshop on Modelling and Simulation for Autonomous Systems, MESAS 2017, held in Rome, Italy, , in October 2017. The 33 revised full papers included in the volume were carefully reviewed and selected from 38 submissions. They are organized in the following topical sections: M&S of Intelligent Systems – AI, R&D and Applications; Autonomous Systems in Context of Future Warfare and Security – Concepts, Applications, Standards and Legislation; Future Challenges and Opportunities of Advanced M&S Technology.

Author : Felipe Gonzalez Toro
Publisher : MDPI
ISBN 13 : 3038971111
Total Pages : 345 pages
Book Rating : 4.15/5 ( download)

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Download or read book UAV or Drones for Remote Sensing Applications written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-11-23 with total page 345 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV or Drones for Remote Sensing Applications" that was published in Sensors

Author : Yi Qu
Publisher : Springer Nature
ISBN 13 : 981971091X
Total Pages : 526 pages
Book Rating : 4.11/5 ( download)

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Download or read book Proceedings of 3rd 2023 International Conference on Autonomous Unmanned Systems (3rd ICAUS 2023) written by Yi Qu and published by Springer Nature. This book was released on with total page 526 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Author : Kaspar Althoefer
Publisher : Springer
ISBN 13 : 3030238075
Total Pages : 474 pages
Book Rating : 4.70/5 ( download)

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Download or read book Towards Autonomous Robotic Systems written by Kaspar Althoefer and published by Springer. This book was released on 2019-06-28 with total page 474 pages. Available in PDF, EPUB and Kindle. Book excerpt: The two volumes LNAI 11649 and LNAI 11650 constitute the refereed proceedings of the 20th Annual Conference "Towards Autonomous Robotics", TAROS 2019, held in London, UK, in July 2019. The 74 full papers and 12 short papers presented were carefully reviewed and selected from 101 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: robotic grippers and manipulation; soft robotics, sensing and mobile robots; robotic learning, mapping and planning; human-robot interaction; and robotic systems and applications.