30,913 research outputs found
A Simulation Framework for Fast Design Space Exploration of Unmanned Air System Traffic Management Policies
The number of daily small Unmanned Aircraft Systems (sUAS) operations in
uncontrolled low altitude airspace is expected to reach into the millions. UAS
Traffic Management (UTM) is an emerging concept aiming at the safe and
efficient management of such very dense traffic, but few studies are addressing
the policies to accommodate such demand and the required ground infrastructure
in suburban or urban environments. Searching for the optimal air traffic
management policy is a combinatorial optimization problem with intractable
complexity when the number of sUAS and the constraints increases. As the
demands on the airspace increase and traffic patterns get complicated, it is
difficult to forecast the potential low altitude airspace hotspots and the
corresponding ground resource requirements. This work presents a Multi-agent
Air Traffic and Resource Usage Simulation (MATRUS) framework that aims for fast
evaluation of different air traffic management policies and the relationship
between policy, environment and resulting traffic patterns. It can also be used
as a tool to decide the resource distribution and launch site location in the
planning of a next-generation smart city. As a case study, detailed comparisons
are provided for the sUAS flight time, conflict ratio, cellular communication
resource usage, for a managed (centrally coordinated) and unmanaged (free
flight) traffic scenario.Comment: The Integrated Communications Navigation and Surveillance (ICNS)
Conference in 201
Nonlinear Model Predictive Control for Multi-Micro Aerial Vehicle Robust Collision Avoidance
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a
reliable and robust collision avoidance technique. In this paper we address the
problem of multi-MAV reactive collision avoidance. A model-based controller is
employed to achieve simultaneously reference trajectory tracking and collision
avoidance. Moreover, we also account for the uncertainty of the state estimator
and the other agents position and velocity uncertainties to achieve a higher
degree of robustness. The proposed approach is decentralized, does not require
collision-free reference trajectory and accounts for the full MAV dynamics. We
validated our approach in simulation and experimentally.Comment: Video available on: https://www.youtube.com/watch?v=Ot76i9p2ZZo&t=40
Recommended from our members
A survey of simulation techniques in commerce and defence
Despite the developments in Modelling and Simulation (M&S) tools and techniques over the past years, there has been a gap in the M&S research and practice in healthcare on developing a toolkit to assist the modellers and simulation practitioners with selecting an appropriate set of techniques. This study is a preliminary step towards this goal. This paper presents some results from a systematic literature survey on applications of M&S in the commerce and defence domains that could inspire some improvements in the healthcare. Interim results show that in the commercial sector Discrete-Event Simulation (DES) has been the most widely used technique with System Dynamics (SD) in second place. However in the defence sector, SD has gained relatively more attention. SD has been found quite useful for qualitative and soft factors analysis. From both the surveys it becomes clear that there is a growing trend towards using hybrid M&S approaches
A Scalable Low-Cost-UAV Traffic Network (uNet)
This article proposes a new Unmanned Aerial Vehicle (UAV) operation paradigm
to enable a large number of relatively low-cost UAVs to fly
beyond-line-of-sight without costly sensing and communication systems or
substantial human intervention in individual UAV control. Under current
free-flight-like paradigm, wherein a UAV can travel along any route as long as
it avoids restricted airspace and altitudes. However, this requires expensive
on-board sensing and communication as well as substantial human effort in order
to ensure avoidance of obstacles and collisions. The increased cost serves as
an impediment to the emergence and development of broader UAV applications. The
main contribution of this work is to propose the use of pre-established route
network for UAV traffic management, which allows: (i) pre- mapping of obstacles
along the route network to reduce the onboard sensing requirements and the
associated costs for avoiding such obstacles; and (ii) use of well-developed
routing algorithms to select UAV schedules that avoid conflicts. Available
GPS-based navigation can be used to fly the UAV along the selected route and
time schedule with relatively low added cost, which therefore, reduces the
barrier to entry into new UAV-applications market. Finally, this article
proposes a new decoupling scheme for conflict-free transitions between edges of
the route network at each node of the route network to reduce potential
conflicts between UAVs and ensuing delays. A simulation example is used to
illustrate the proposed uNet approach.Comment: To be submitted to journal, 21 pages, 9 figure
- …