Aerial-Ground collaborative sensing: Third-Person view for teleoperation

Rapid deployment and operation are key requirements in time critical application, such as Search and Rescue (SaR). Efficiently teleoperated ground robots can support first-responders in such situations. However, first-person view teleoperation is sub-optimal in difficult terrains, while a third-person perspective can drastically increase teleoperation performance. Here, we propose a Micro Aerial Vehicle (MAV)-based system that can autonomously provide third-person perspective to ground robots. While our approach is based on local visual servoing, it further leverages the global localization of several ground robots to seamlessly transfer between these ground robots in GPS-denied environments. Therewith one MAV can support multiple ground robots on a demand basis. Furthermore, our system enables different visual detection regimes, and enhanced operability, and return-home functionality. We evaluate our system in real-world SaR scenarios.Comment: Accepted for publication in 2018 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR

Securing Real-Time Internet-of-Things

Modern embedded and cyber-physical systems are ubiquitous. A large number of critical cyber-physical systems have real-time requirements (e.g., avionics, automobiles, power grids, manufacturing systems, industrial control systems, etc.). Recent developments and new functionality requires real-time embedded devices to be connected to the Internet. This gives rise to the real-time Internet-of-things (RT-IoT) that promises a better user experience through stronger connectivity and efficient use of next-generation embedded devices. However RT- IoT are also increasingly becoming targets for cyber-attacks which is exacerbated by this increased connectivity. This paper gives an introduction to RT-IoT systems, an outlook of current approaches and possible research challenges towards secure RT- IoT frameworks

Autonomous 3D Exploration of Large Structures Using an UAV Equipped with a 2D LIDAR

This paper addressed the challenge of exploring large, unknown, and unstructured industrial environments with an unmanned aerial vehicle (UAV). The resulting system combined well-known components and techniques with a new manoeuvre to use a low-cost 2D laser to measure a 3D structure. Our approach combined frontier-based exploration, the Lazy Theta* path planner, and a flyby sampling manoeuvre to create a 3D map of large scenarios. One of the novelties of our system is that all the algorithms relied on the multi-resolution of the octomap for the world representation. We used a Hardware-in-the-Loop (HitL) simulation environment to collect accurate measurements of the capability of the open-source system to run online and on-board the UAV in real-time. Our approach is compared to different reference heuristics under this simulation environment showing better performance in regards to the amount of explored space. With the proposed approach, the UAV is able to explore 93% of the search space under 30 min, generating a path without repetition that adjusts to the occupied space covering indoor locations, irregular structures, and suspended obstaclesUnión Europea Marie Sklodowska-Curie 64215Unión Europea MULTIDRONE (H2020-ICT-731667)Uniión Europea HYFLIERS (H2020-ICT-779411

The Added Value of Integrating UAVS Into the HMA Toolkit

The rapid and ongoing development of lightweight, powerful, and relatively cheap unmanned aircraft vehicles (UAV)—still commonly referred to as drones—has demonstrated their use in increasingly diverse and imaginative ways across a large number of industries and sectors. They have also captured the public imagination with the prospect of revolutionizing many aspects of how we live and work. Humanitarian mine action (HMA) has not been immune to this process, and a number of organizations have conducted research, trials, and field tests into how they can support and improve the landmine and explosive remnants of war (ERW) survey and clearance process

Smart environment monitoring through micro unmanned aerial vehicles

In recent years, the improvements of small-scale Unmanned Aerial Vehicles (UAVs) in terms of flight time, automatic control, and remote transmission are promoting the development of a wide range of practical applications. In aerial video surveillance, the monitoring of broad areas still has many challenges due to the achievement of different tasks in real-time, including mosaicking, change detection, and object detection. In this thesis work, a small-scale UAV based vision system to maintain regular surveillance over target areas is proposed. The system works in two modes. The first mode allows to monitor an area of interest by performing several flights. During the first flight, it creates an incremental geo-referenced mosaic of an area of interest and classifies all the known elements (e.g., persons) found on the ground by an improved Faster R-CNN architecture previously trained. In subsequent reconnaissance flights, the system searches for any changes (e.g., disappearance of persons) that may occur in the mosaic by a histogram equalization and RGB-Local Binary Pattern (RGB-LBP) based algorithm. If present, the mosaic is updated. The second mode, allows to perform a real-time classification by using, again, our improved Faster R-CNN model, useful for time-critical operations. Thanks to different design features, the system works in real-time and performs mosaicking and change detection tasks at low-altitude, thus allowing the classification even of small objects. The proposed system was tested by using the whole set of challenging video sequences contained in the UAV Mosaicking and Change Detection (UMCD) dataset and other public datasets. The evaluation of the system by well-known performance metrics has shown remarkable results in terms of mosaic creation and updating, as well as in terms of change detection and object detection

Spatio-temporal water hyacinth monitoring in the lower Mondego (Portugal) using remote sensing data

Monitoring invasive plant species is a crucial task to assess their presence in affected ecosystems. However, it is a laborious and complex task as it requires vast surface areas, with difficult access, to be surveyed. Remotely sensed data can be a great contribution to such operations, especially for clearly visible and predominant species. In the scope of this study, water hyacinth (Eichhornia crassipes) was monitored in the Lower Mondego region (Portugal). For this purpose, Sentinel-2 satellite data were explored enabling us to follow spatial patterns in three water channels from 2018 to 2021. By applying a straightforward and effective methodology, it was possible to estimate areas that could contain water hyacinth and to obtain the total surface area occupied by this invasive species. The normalized difference vegetation index (NDVI) was used for this purpose. It was verified that the occupation of this invasive species over the study area exponentially increases from May to October. However, this increase was not verified in 2021, which could be a consequence of the adopted mitigation measures. To provide the results of this study, the methodology was applied through a semi-automatic geographic information system (GIS) application. This tool enables researchers and ecologists to apply the same approach in monitoring water hyacinth or any other invasive plant species in similar or different contexts. This methodology proved to be more effective than machine learning approaches when applied to multispectral data acquired with an unmanned aerial vehicle. In fact, a global accuracy greater than 97% was achieved using the NDVI-based approach, versus 93% when using the machine learning approach (above 93%).This research activity was funded by POCI-FEDER as part of the project “BioComp_2.0—Produção de compostos orgânicos biológicos para o controlo do jacinto de água e para a valorização de subprodutos agropecuários, florestais e agroindustriais” (POCI-01-0247-FEDER-070123).info:eu-repo/semantics/publishedVersio