DSpace Repository :: Browsing by Subject "VEHICULOS AEREOS NO TRIPULADOS"

Browsing by Subject "VEHICULOS AEREOS NO TRIPULADOS"

Now showing 1 - 16 of 16

Aerial multi-camera robotic jib crane
(2021-03) Moreno, Patricio; Presenza, Juan F.; Mas, Ignacio; Giribet, Juan I.
"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."
Analysis and design of a tilted rotor hexacopter for fault tolerance
(IEEE, 2016) Giribet, Juan I.; Sanchez-Peña, Ricardo; Ghersin, Alejandro S.
A proof is presented of how a hexagon-shaped hexacopter can be designed to keep the ability to reject disturbance torques in all directions while counteracting the effect of a failure in any of its motors. The method proposed is simpler than previous solutions, because it does not require change of the motor rotation direction or in-flight mechanical reconfiguration of the vehicle. It consists of tilting the rotor a small fixed angle with respect to the vertical axis. Design guidelines are presented to calculate the tilt angle to achieve fault-tolerant attitude control without losing significant vertical thrust. It is also formally proved that the minimum number of unidirectional rotating motors needed to have fault tolerance is 6 and that this can be achieved by tilting their rotors. This proof is essentially a control allocation analysis that recovers in a simple way a result already known: the standard configuration (without tilting the motors) is not fault tolerant. A simulation example illustrates the theory.
Analytical models integrated with satellite images for optimized pest management
(2016) Bright, L. Zack; Handley, Michael; Chien, Isabel; Curi, Sebastián; Anders Brownworth, L.; D'hers, Sebastián; Bernier, Ulrich R.; Gurman, Pablo; Elman, Noel M.
"The global field protection (GFP) was developed to protect and optimize pest management resources integrating satellite images for precise field demarcation with physical models of controlled release devices of pesticides to protect large fields. The GFP was implemented using a graphical user interface to aid the end-user to select location and define an arbitrary perimeter for protection. The system provides coordinates of drop points for the controlled release devices which can be delivered using drone technology, e.g. unmanned air vehicles. In this work, we present the first proof of concept of this technology. A vast number of pest management applications can benefit from this work, including prevention against vector-borne diseases as well as protection of large agriculture fields."
Autonomous vehicles for outdoor multidomain mapping
(2018-06) Garberoglio, Leonardo; Moreno, Patricio; Mas, Ignacio; Giribet, Juan I.
"In the last years, progress has been made attempting to replace a unique, complex and expensive vehicle equipped with several sensors such as LIDAR, RGB cameras, thermal sensor, etc. with a group of small vehicles, each of them carrying one sensor. There are several advantages of these segmented architectures, for instance this allows a reduction in the cost of the vehicles (several small vehicles can be less expensive than one big vehicle), the flexibility to choose for a mission only those vehicles with the appropriate sensors, the robustness of the system since it can acquire information even if one vehicle fails, among others. The advantage of segmented architectures is even more noticeable if the vehicles carrying those different sensors, have different characteristics or environments for operations, e.g. aerial, terrestrial or aquatic vehicles. In this work, we present the experimental results obtained with an ASV (Autonomous Surface Vehicle) and a UAV (Unmanned Aerial Vehicle) that cooperate to obtain a topographic survey of the terrain. The ASV is equipped with a LIDAR, meanwhile the UAV is equipped with a monocular RGB camera. The data acquired is post-processed in order to obtain a detailed map of the coastline of a creek and the surrounding area."
Control robusto H∞ para la velocidad de desplazamiento de un UAV en base a estimación de flujo óptico
(2021-07) Ghersin, Alejandro S.; Giribet, Juan I.; Luiso, Javier E.; Tournour, Andrés
"Se presenta el diseño del control para la velocidad de desplazamiento de un vehículo aéreo de seis rotores. La técnica de diseño utilizada es el control optimo en H-infinito con el objetivo de conseguir rendimiento robusto ante la incertidumbre en el modelo de la dinámica de la velocidad de desplazamiento. Se considera que buena parte de la incertidumbre es atribuible a retardos de tiempo inciertos que introduce el propio algoritmo que se utiliza para estimar la velocidad de desplazamiento. El vehículo realiza a bordo la estimación de esta última a través de un sensor de flujo óptico implementado con una cámara y un procesador de alto nivel en el cual además se implementa la ley de control. Junto con el diseño del control, se muestra el procedimiento de identificación de sistemas utilizado para conseguir una descripción de la dinámica a través de una familia de plantas con incertidumbre dinámica global a través de la toma de datos experimentales. Finalmente se exhiben resultados experimentales con la implementación del sistema de control completo."
Controladora electrónica para multirrotores
(2015) Calcabrini, Andrés; Carrano, Juan I.; Ubeira, Juan I.; Venturo, Nicolás
"Un multirrotor es una aeronave que consta de tres o más propulsores, generalmente de hélice fija. Algunos de estos vehículos pueden ser controlados remotamente y entran dentro de la clasificación de vehículos aéreos no tripulados (UAV). La cantidad de motores depende de la aplicación del vehículo, la regla general indica que a mayor cantidad de motores la dinámica del vehículo es más compleja, pero son más estables y tolerantes a fallas. Los motores suelen ser eléctricos del tipo brushless, ya que su relación peso-potencia suele ser superior a la de los motores con escobillas. Estos motores requieren de un variador electrónico de velocidad (ESC) para ser controlados. Entre los multirrotores, los más difundidos son aquellos que tiene cuatro motores, comúnmente denominados cuadrotores (o cuadcópteros). Su popularidad se debe principalmente a que son simples de controlar y ofrecen una excelente relación carga útil-potencia, y por lo tanto una mayor autonomía de vuelo. Un UAV utiliza un sistema de controlador electrónico para estabilizar su actitud (orientación en el espacio). Dicho equipo se compone de sensores inerciales y de orientación (giróscopos, acelerómetros y magnetómetros), un filtro que combina estas señales y un algoritmo de control que comanda los motores. Para obtener un desempeño óptimo, todos los distintos sistemas deben estar integrados e intercomunicados. El proyecto consiste en el diseño de una controladora comercial para multirrotores no tripulados."
Coordinated ASV-UAV control for marine collision-free navigation
(2019-09) Garberoglio, Leonardo; Mas, Ignacio; Giribet, Juan I.
"There is an increasing interest in replacing a unique, complex, and expensive vehicle equipped with several sensors with a group of small vehicles, each of them carrying fewer sensors. There are several advantages in these segmented architectures, such as cost, flexibility, redundancy, and robustness, among others. The advantage of segmented architectures is even more noticeable if the vehicles carrying those sensors have different characteristics or environments of operation, e.g. aerial, terrestrial or marine vehicles. This work proposes a multi-robot system where an autonomous marine vehicle avoids obstacles relying on aerial images provided by an autonomous flying vehicle. Both robots navigate in a coordinated fashion increasing the detection area and allowing to adjust the obstacle detection horizon. In order to validate the control scheme two simulation scenarios are presented."
Diseño de un autopiloto para pequeños vehículos no tripulados
(2019-06) Garberoglio, Leonardo; Pose, Claudio D.; Mas, Ignacio; Giribet, Juan I.
"En este trabajo se presenta el diseño de un autopiloto para pequeños vehículos autónomos. El trabajo está enfocado principalmente en la arquitectura del sistema, pero se presentan también algunos detalles del firmware desarrollado para el autopiloto. En particular, el firmware incluye el paquete rosserial, que permite una conexión simple con ROS (Robot Operating System), resultando beneficioso para diversas aplicaciones. El desarrollo se valida experimentalmente en un vehículo aéreo no tripulado (UAV1) del tipo multi-rotor y en un vehículo acuático de superficie (ASV2). Estos vehículos han sido desarrollados por nuestro grupo, y en este trabajo puede encontrarse información sobre estos proyectos, lo cual puede ser de utilidad para los interesados en el desarrollo de UAV o ASV."
Distributed data-driven UAV formation control via evolutionary games: experimental results
(2021-07) Barreiro-Gomez, Julian; Mas, Ignacio; Giribet, Juan I.; Moreno, Patricio; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Quijano, Nicanor
"This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance."
Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
(2016-12) Barreiro-Gomez, Julian; Mas, Ignacio; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Quijano, Nicanor
"This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x, y, and z, and in the yaw angle φ. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed population-games-based controller achieves the new organization goal accommodating conveniently the information-sharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with time-varying communication network, and time-varying formation."
Drones bomberos: combate automatizado de incendios forestales con drones
(2021-05-31) Camisay, Santiago; Ramele, Rodrigo
"Este trabajo describe el desarrollo de un simulador de enjambres de drones bomberos y tanques proveedores de agua que extinguen incendios forestales. Este proyecto determina y evalúa las interacciones de las tres partes que componen el sistema (drones, fuegos y tanques) y su impacto en el proceso de extinción."
Formation control for multi-domain autonomous vehicles based on dual quaternions
(2017-06) Mas, Ignacio; Moreno, Patricio; Giribet, Juan I.; Valentino Barzi, Diego
"Unmanned networked multirobot systems have the potential to accomplish complex field tasks with minimum human intervention. Motion coordination of vehicles that operate in different domains (land, sea, air) is one of the problems that need to be addressed to achieve such a goal. This article presents a representation method based on dual quaternions for leaderfollower formation control architectures. This representation offers the most compact and computationally efficient screw transformation formalism and can be used to describe rigid body motions because they simultaneously describe positions and orientations with only eight parameters. A controller in dual quaternion formation space is proposed and analyzed. Computer simulation results and experimental tests applied to the task of escorting an UGV with UAVs are shown to verify the functionality of the proposed system."
Multi-UAV specification and control with a single pilot-in-the-loop
(2019-09) Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I.
"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
Multi-UAV specification and control with a single pilot-in-the-loop
(2020-10) Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I.
"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory-following controller based on the clusterspace robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
Navegación fluvial autónoma asistida por visión aérea
(2019-11) Garberoglio, Leonardo; Moreno, Patricio; Mas, Ignacio; Giribet, Juan I.
"Este trabajo presenta una formación compuesta por un vehículo de superficie autónomo (ASV, por sus siglas en inglés) y un vehículo aéreo no tripulado (UAV, por sus siglas en inglés) con el objetivo de navegar, de forma autónoma, un cauce de agua. La coordinación entre ambos vehículos se logra mediante la técnica de control Cluster Space. El UAV brinda una visión aumentada del entorno por medio de una cámara RGB. Para el guiado del ASV se utiliza una técnica basada en campos potenciales artificiales que se generan de tiempo de ejecución utilizando la información provista por el UAV. La técnica propuesta se valida mediante simulaciones usando el entorno ROS-Gazebo."
Set-up of a method for people-counting using images from a UAV
(2019-07-02) Parisi, Daniel; Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio
"We present a new method for obtaining the positions of each person attending an outdoor gathering. From this information it is possible to calculate the density field and the number of people. A dual-camera (visible + infrared (IR)) is mounted on an unmanned aerial vehicle (UAV). In this work, we only use the IR channel and present an initial set-up and calibration of the system along with the characterization of a small group of people."

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