Multi-agent Collision Avoidance Using Interval Analysis and Symbolic Modelling with its Application to the Novel Polycopter

Coordination is fundamental component of autonomy when a system is defined by multiple mobile agents. For unmanned aerial systems (UAS), challenges originate from their low-level systems, such as their flight dynamics, which are often complex. The thesis begins by examining these low-level dynamics in an analysis of several well known UAS using a novel symbolic component-based framework. It is shown how this approach is used effectively to define key model and performance properties necessary of UAS trajectory control. This is demonstrated initially under the context of linear quadratic regulation (LQR) and model predictive control (MPC) of a quadcopter. The symbolic framework is later extended in the proposal of a novel UAS platform, referred to as the ``Polycopter" for its morphing nature. This dual-tilt axis system has unique authority over is thrust vector, in addition to an ability to actively augment its stability and aerodynamic characteristics. This presents several opportunities in exploitative control design. With an approach to low-level UAS modelling and control proposed, the focus of the thesis shifts to investigate the challenges associated with local trajectory generation for the purpose of multi-agent collision avoidance. This begins with a novel survey of the state-of-the-art geometric approaches with respect to performance, scalability and tolerance to uncertainty. From this survey, the interval avoidance (IA) method is proposed, to incorporate trajectory uncertainty in the geometric derivation of escape trajectories. The method is shown to be more effective in ensuring safe separation in several of the presented conditions, however performance is shown to deteriorate in denser conflicts. Finally, it is shown how by re-framing the IA problem, three dimensional (3D) collision avoidance is achieved. The novel 3D IA method is shown to out perform the original method in three conflict cases by maintaining separation under the effects of uncertainty and in scenarios with multiple obstacles. The performance, scalability and uncertainty tolerance of each presented method is then examined in a set of scenarios resembling typical coordinated UAS operations in an exhaustive Monte-Carlo analysis

Proceedings of the International Micro Air Vehicles Conference and Flight Competition 2017 (IMAV 2017)

The IMAV 2017 conference has been held at ISAE-SUPAERO, Toulouse, France from Sept. 18 to Sept. 21, 2017. More than 250 participants coming from 30 different countries worldwide have presented their latest research activities in the field of drones. 38 papers have been presented during the conference including various topics such as Aerodynamics, Aeroacoustics, Propulsion, Autopilots, Sensors, Communication systems, Mission planning techniques, Artificial Intelligence, Human-machine cooperation as applied to drones

DRONE DELIVERY OF CBNRECy – DEW WEAPONS Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD)

Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD) is our sixth textbook in a series covering the world of UASs and UUVs. Our textbook takes on a whole new purview for UAS / CUAS/ UUV (drones) – how they can be used to deploy Weapons of Mass Destruction and Deception against CBRNE and civilian targets of opportunity. We are concerned with the future use of these inexpensive devices and their availability to maleficent actors. Our work suggests that UASs in air and underwater UUVs will be the future of military and civilian terrorist operations. UAS / UUVs can deliver a huge punch for a low investment and minimize human casualties.https://newprairiepress.org/ebooks/1046/thumbnail.jp

Recent Advances in Indoor Localization Systems and Technologies

Despite the enormous technical progress seen in the past few years, the maturity of indoor localization technologies has not yet reached the level of GNSS solutions. The 23 selected papers in this book present the recent advances and new developments in indoor localization systems and technologies, propose novel or improved methods with increased performance, provide insight into various aspects of quality control, and also introduce some unorthodox positioning methods

Unmanned aerial vehicles (UAVs) for wireless communication and networks : potentials and design challenges

Unmanned aerial vehicles (UAVs) are mostly considered by the military for surveillance and reconnaissance operations, and by hobbyists for aerial photography. However, in recent years, the UAV operations have been extended for civilian and commercial purposes due to their agile and cost-effective deployment. UAVs appear to be more prolific platforms to enable wireless communication due to their better line-of-sight (LOS) channel conditions as compared with the fixed base stations (BSs) in terrestrial communication which suffer from severe path loss, shadowing, and multipath fading in more challenging propagation environments. In UAV-enabled wireless communications, the UAV can either act as a complementary aerial BS to provide on-demand communication or as an aerial user equipment (UE) which is operated by the existing cellular network. Several challenges exist in the design of UAV communications which include but not limited to channel modeling, optimal deployment, interference generation, performance analysis, limited on-board battery lifetime, trajectory optimization, and unavailability of regulations and standards which are specific for UAV communication and networking. This thesis particularly investigates some important design challenges for safe and reliable functionalities of UAV for wireless communication and networking. UAV communication has its own distinctive channel characteristics compared to the widely used cellular or satellite systems. However, several challenges exist in UAV channel modeling. For example, the propagation characteristics of UAV channels are under explored for spatial and temporal variations in non-stationary channels. Therefore, first and foremost, this thesis provides an extensive review of the measurement methods proposed for UAV channel modeling and discusses channel modeling efforts for air-to-ground and air-to-air channels. Furthermore, knowledge-gaps are identified to realize accurate UAV channel models. The efficient deployment strategy is imperative to compensate the adverse impact of interference on the coverage area performance of multiple UAVs. As a result, this thesis proposes an optimal deployment strategy for multiple UAVs in presence of downlink co-channel interference in the worst-case scenario. In particular, this work presents coordinated multi-UAV strategy in two schemes. In the first scheme, symmetric placement of UAVs is assumed at a common optimal altitude and transmit power. In the second scheme, asymmetric deployment of UAVs with different altitudes and transmit powers is assumed. The impact of various system parameters, such as signal-to interference-plus-noise ratio (SINR) threshold, separation distance between UAVs, and the number of UAVs and their formations are carefully studied to achieve the maximum coverage area inside and to reduce the unnecessary coverage expansion outside the target area. Fundamental analysis is required to obtain the optimal trade-off between the design parameters and performance metrics of any communication systems. This thesis particularly considers two emerging scenarios for evaluating performance of UAV communication systems. In the first scenario, the uplink UAV communication system is considered where the ground user follows the random waypoint (RWP) model for user mobility, the small-scale channel fading follows the Nakagami-m model, and the uplink interference is modeled by Gamma approximation. Specifically, the closed-form expressions for the probability density function (PDF), the cumulative distribution function (CDF), the outage probability, and the average bit error rate (BER) of the considered UAV system are derived as performance metrics. In the second scenario, the downlink hybrid caching system is considered where UAVs and ground small-cell BSs (SBSs) are distributed according to two independent homogeneous Poisson point processes (PPPs), and downlink interference is modeled by the Laplace transforms. Specifically, the analytical expressions of the successful content delivery probability and energy efficiency of the considered network are derived as performance metrics. In both scenarios, results are presented to demonstrate the interplay between the communication performance and the design parameters

Unmanned Vehicle Systems & Operations on Air, Sea, Land

Unmanned Vehicle Systems & Operations On Air, Sea, Land is our fourth textbook in a series covering the world of Unmanned Aircraft Systems (UAS) and Counter Unmanned Aircraft Systems (CUAS). (Nichols R. K., 2018) (Nichols R. K., et al., 2019) (Nichols R. , et al., 2020)The authors have expanded their purview beyond UAS / CUAS systems. Our title shows our concern for growth and unique cyber security unmanned vehicle technology and operations for unmanned vehicles in all theaters: Air, Sea and Land – especially maritime cybersecurity and China proliferation issues. Topics include: Information Advances, Remote ID, and Extreme Persistence ISR; Unmanned Aerial Vehicles & How They Can Augment Mesonet Weather Tower Data Collection; Tour de Drones for the Discerning Palate; Underwater Autonomous Navigation & other UUV Advances; Autonomous Maritime Asymmetric Systems; UUV Integrated Autonomous Missions & Drone Management; Principles of Naval Architecture Applied to UUV’s; Unmanned Logistics Operating Safely and Efficiently Across Multiple Domains; Chinese Advances in Stealth UAV Penetration Path Planning in Combat Environment; UAS, the Fourth Amendment and Privacy; UV & Disinformation / Misinformation Channels; Chinese UAS Proliferation along New Silk Road Sea / Land Routes; Automaton, AI, Law, Ethics, Crossing the Machine – Human Barrier and Maritime Cybersecurity.Unmanned Vehicle Systems are an integral part of the US national critical infrastructure The authors have endeavored to bring a breadth and quality of information to the reader that is unparalleled in the unclassified sphere. Unmanned Vehicle (UV) Systems & Operations On Air, Sea, Land discusses state-of-the-art technology / issues facing U.S. UV system researchers / designers / manufacturers / testers. We trust our newest look at Unmanned Vehicles in Air, Sea, and Land will enrich our students and readers understanding of the purview of this wonderful technology we call UV.https://newprairiepress.org/ebooks/1035/thumbnail.jp