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A Software-in-the-Loop Implementation of Adaptive Formation Control for Fixed-Wing uavs

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IEEE/CAA Journal of Automatica Sinica 2019年第5期6卷 1230-1239页

作者： Jun Yang Ximan Wang Simone Baldi Satish Singh Stefano Fari Systems Engineering Research Institute China State Shipbuilding CorporationBeijing 100094China Delft Center for Systems and Control (DCSC) TU Delft2628CD DelftThe Netherlands School of Mathematics Southeast University211189 NanjingChinaand also with DCSCTU Delft2628CD DelftThe Netherlands German Aerospace Center (DLR) Institute of Space SystemsD-28359 BremenGermanyand was with Politecnico di MilanoItaly and also with DCSCTU DelftThe Netherlands

This paper discusses the design and software-in-theloop implementation of adaptive formation controllers for fixedwing unmanned aerial vehicles(uavs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary during the mission(*** on the payload). Modeling and autopilot design for such autonomous fixed-wing uavs are presented. The modeling is implemented in Matlab, while the autopilot is based on ArduPilot, a popular open-source autopilot suite. Specifically, the ArduP ilot functionalities are emulated in Matlab according to the Ardupilot documentation and code, which allows us to perform software-in-the-loop simulations of teams of uavs embedded with actual autopilot protocols. An overview of realtime path planning, trajectory tracking and formation control resulting from the proposed platform is given. The software-inthe-loop simulations show the capability of achieving different UAV formations while handling uncertain mass and inertia.

关键词： ArduPilot adaptive formation control Fixed-wing uavs software-in-the-loop simulations

A compliant polymorphing wing for small uavs

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Chinese Journal of Aeronautics 2020年第10期33卷 2575-2588页

作者： Sadique P.MUHAMMED Rafic M.AJAJ Kamran AKHAN Department of Mechanical Engineering United Arab Emirates UniversityAl Ain 15551United Arab Emirates Department of Aerospace Engineering Khalifa University of Science and TechnologyAbu Dhabi 127788United Arab Emirates

This paper presents the development of a novel compliant polymorphing wing capable of chord and camber morphing for small *** morphing wing can achieve up to 10%chord extension and±20°camber *** design,modeling,sizing,manufacturing and mechanical testing of the wing are *** polymorphing wing consists of one continuous front spar fixed to the fuselage and a rear spar on each side of the *** rear spar can translate in the chordwise direction(chord morphing)and rotate around itself(camber morphing).A flexible elastomeric latex sheet is used as the skin to cover the wing and maintain its aerodynamic shape whilst allowing *** loads from the skin are transferred to the spars using the compliant cellular ribs that support the flexible skin and facilitate ***-tensioning is applied to the skin to minimize wrinkling when subject to aerodynamic and actuation loads.A rack and pinion actuation system,powered by stepper motors,is used for ***-structural design,analysis and sizing are *** comparison between the polymorphing wing and the baseline wing(non-morphing)shows that chord morphing improves aerodynamic efficiency at low angles of attack while camber morphing improves efficiency at high angles of attack.

关键词： Camber morphing Chord morphing Compliant structures Flexible skin uavs

Distributed Multicircular Circumnavigation Control for uavs with Desired Angular Spacing

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Defence Technology（防务技术） 2024年第1期31卷 429-446页

作者： Shixiong Li Xingling Shao Wendong Zhang Qingzhen Zhang National Key Laboratory for Electronic Measurement Technology School of Instrument and ElectronicsNorth University of ChinaTaiyuan 030051China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100086China

This paper addresses a multicircular circumnavigation control for uavs with desired angular spacing around a nonstationary *** defining a coordinated error relative to neighboring angular spacing,under the premise that target information is perfectly accessible by all nodes,a centralized circular enclosing control strategy is derived for multiple uavs connected by an undirected graph to allow for formation behaviors concerning the moving ***,to avoid the requirement of target’s states being accessible for each UAV,fixed-time distributed observers are introduced to acquire the state estimates in a fixed-time sense,and the upper boundary of settling time can be determined offline irrespective of initial properties,greatly releasing the burdensome communication ***,with the aid of fixed-time distributed observers,a distributed circular circumnavigation controller is derived to force all uavs to collaboratively evolve along the preset circles while keeping a desired angular *** is inferred from Lyapunov stability that all errors are demonstrated to be *** are offered to verify the utility of proposed protocol.

关键词： Angular spacing Distributed observer Multicircular circumnavigation Moving target uavs

Collision free 4D path planning for multiple uavs based on spatial refined voting mechanism and PSO approach

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Chinese Journal of Aeronautics 2019年第6期32卷 1504-1519页

作者： Yang LIU Xuejun ZHANG Yu ZHANG Xiangmin GUAN School of Information Science&Electric Engineering Shandong Jiaotong UniversityJinan 250357China School of Electronic&Information Engineering Beihang UniversityBeijing 100083China College of Air Traffic Control Civil Aviation University of ChinaTianjin 300350China College of Transportation Engineering Tongji UniversityShanghai 200092China School of General Aviation Civil Aviation Management Institute of ChinaBeijing 100102China

In this paper, a four-dimensional coordinated path planning algorithm for multiple uavs is proposed, in which time variable is taken into account for each UAV as well as collision free and obstacle avoidance. A Spatial Refined Voting Mechanism(SRVM) is designed for standard Particle Swarm Optimization(PSO) to overcome the defects of local optimal and slow *** each generation candidate particle positions are recorded and an adaptive cube is formed with own adaptive side length to indicate occupied regions. Then space voting begins and is sorted based on voting results, whose centers with bigger voting counts are seen as sub-optimal positions. The average of all particles of corresponding dimensions are calculated as the refined solutions. A time coordination method is developed by generating specified candidate paths for every UAV, making them arrive the same destination with the same time consumption. A spatial-temporal collision avoidance technique is introduced to make collision free. Distance to destination is constructed to improve the searching accuracy and velocity of particles. In addition, the objective function is redesigned by considering the obstacle and threat avoidance, Estimated Time of Arrival(ETA), separation maintenance and UAV self-constraints. Experimental results prove the effectiveness and efficiency of the algorithm.

关键词： 4D path planning Collision free Multiple uavs Obstacle avoidance Particle swarm optimization Spatial refined voting mechanism

DQN-Based Proactive Trajectory Planning of uavs in Multi-Access Edge Computing

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Computers, Materials & Continua 2023年第3期74卷 4685-4702页

作者： Adil Khan Jinling Zhang Shabeer Ahmad Saifullah Memon Babar Hayat Ahsan Rafiq School of Electronic Engineering Beijing University of Posts and TelecommunicationsBeijing100876China State Key Laboratory of Networking and Switching Technology Beijing University of Posts and TelecommunicationsBeijing100876China Department of Automation Chongqing University of Posts and TelecommunicationsChongqing400065China

The main aim of future mobile networks is to provide secure,reliable,intelligent,and seamless *** also enables mobile network operators to ensure their customer’s a better quality of service(QoS).Nowadays,Unmanned Aerial Vehicles(uavs)are a significant part of the mobile network due to their continuously growing use in various *** better coverage,cost-effective,and seamless service connectivity and provisioning,uavs have emerged as the best choice for telco *** can be used as flying base stations,edge servers,and relay nodes in mobile *** the other side,Multi-access EdgeComputing(MEC)technology also emerged in the 5G network to provide a better quality of experience(QoE)to users with different QoS ***,uavs in a mobile network for coverage enhancement and better QoS face several challenges such as trajectory designing,path planning,optimization,QoS assurance,mobilitymanagement,*** efficient and proactive path planning and optimization in a highly dynamic environment containing buildings and obstacles are ***,an automated Artificial Intelligence(AI)enabled QoSaware solution is needed for trajectory planning and ***,this work introduces a well-designed AI and MEC-enabled architecture for a uavs-assisted future *** has an efficient Deep Reinforcement Learning(DRL)algorithm for real-time and proactive trajectory planning and *** also fulfills QoS-aware service provisioning.A greedypolicy approach is used to maximize the long-term reward for serving more users *** results reveal the superiority of the proposed DRL mechanism for energy-efficient and QoS-aware trajectory planning over the existing models.

关键词： Multi-access edge computing uavs trajectory planning QoS assurance reinforcement learning deep Q network

The use of uavs for landslide disaster risk research and disaster risk management: a literature review

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Journal of Mountain Science 2021年第2期18卷 482-498页

作者： Ricardo J.GARNICA-PEÑA Irasema ALCÁNTARA-AYALA Institute of Geography National Autonomous University of Mexico(UNAM)Mexico City 04510Mexico

On a global scale,from 2005 to 2019,there were 275 high-magnitude,low-frequency disasters that involved 14,172 fatalities and four million affected *** patterns have taken place during longer periods of time in recent *** paper aims to analyse the contribution of the international landslide research community to disaster risk reduction and disaster risk management in reference to the use of Unmanned Aerial Vehicles(uavs)in a literature *** first section notes the relevance of disaster risk research contributions for the implementation of initiatives and strategies concerning disaster risk *** second section highlights background information and current applications of drones in the field of hazards and *** methodology,which included a systematic peer review of journals in the ISI Web of Science and SCOPUS,was presented in the third section,where the results include analyses of the considered *** study concludes that most current scholarly efforts remain rooted in hazards and post-disaster evaluation and *** landslide disaster risk research should be transdisciplinary in order to strengthen participation of the various relevant stakeholders in contributing to integrated disaster risk management at local,subnational,national,regional and global levels.

关键词： uavs Landslides Disaster risk Landslide research Vulnerability Exposure Disaster risk management

Cooperative THz communication for uavs in 6G and beyond

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Green Energy and Intelligent Transportation 2024年第1期3卷 25-31页

作者： Nazifa Mustari Muhammet Ali Karabulut A.F.M.Shahen Shah Ufuk Tureli Department of Electronics and Communication Engineering Yildiz Technical UniversityTurkey Department of Electrical Electronics Engineering Faculty of Engineering and ArchitectureKafkas UniversityKarsTurkey

One of the key components of any smart city is considered to be its intelligent transportation systems(ITSs).Unmanned aerial vehicles(uavs)are envisioned in several ITS application fields because of their autonomous operation,mobility,communication/processing capabilities,and other *** this paper,cooperative terahertz(THz)communication is proposed for flying ad hoc networks(FANETs),which is a particular kind of network made up of a collection of small uavs linked in an ad hoc fashion and working together to accomplish high-level *** frequency spectrum for wireless communication has been expanding continuously in order to meet the demand for *** the forthcoming 6G and beyond,communications in the THz range will be vital,similar to how mmWave-band communications are currently influencing the 5G of wireless mobile *** finite state machine(FSM)of the proposed cooperative communication system for THz band is presented.A Markov chain model-based analytical study is carried out,which derives relationships among ***,numerical results are provided to support the analytical study.

关键词： Cooperative MAC THz uavs 6G

uavs as remote sensing platforms in plant ecology:review of applications and challenges

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Journal of Plant Ecology 2021年第6期14卷 1003-1023页

作者： Zhongyu Sun Xiaonian Wang Zhihui Wang Long Yang Yichun Xie Yuhui Huang Guangdong Open Laboratory of Geospatial Information Technology and Application Guangzhou Institute of GeographyGuangdong Academy of SciencesGuangzhou 510070China School of Geographical Sciences South China Normal UniversityGuangzhou 510631China Department of Geography and Geology Eastern Michigan UniversityYpsilantiMI 48197USA Guangdong Provincial Key Laboratory of Silviculture Protection and UtilizationGuangdong Academy of ForestryGuangzhou 510520China

Aims Unmanned aerial vehicles(uavs),***,have recently emerged as cost-effective and flexible tools for acquiring remote sensing data with fine spatial and temporal *** provides a new method and opportunity for plant ecologists to study issues from individual to regional ***,as a new method,uavs remote sensing applications in plant ecology are still *** needs of plant ecology research and the application development of uavs remote sensing should be better *** This report provides a comprehensive review of UAV-based remote sensing applications in plant ecology to synthesize prospects of applying drones to advance plant ecology *** Findings Of the 400 references,59%were published in remote sensing journals rather than in plant ecology journals,reflecting a substantial gap between the interests of remote sensing experts and plant *** of the studies focused on UAV remote sensing’s technical aspects,such as data processing and remote sensing inversion,with little attention on answering ecological *** were 61%of studies involved community-scale *** and multispectral cameras were the most used sensors(75%).More ecologically meaningful parameters can be extracted from UAV data to better understand the canopy surface irregularity and community heterogeneity,identify geometrical characteristics of canopy gaps and construct canopy chemical assemblies from living vegetation *** cooperation between plant ecologists and remote sensing experts is needed to promote UAV remote sensing in advancing plant ecology research.

关键词： uavs drones unmanned aircraft systems(UASs) plant ecology species identification community function

Packages delivery based on marker detection for uavs

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Packages delivery based on marker detection for UAVs