Drone Obstacle Avoidance and Navigation Using Artificial Intelligence

This thesis presents an implementation and integration of a robust obstacle avoidance and navigation module with ardupilot. It explores the problems in the current solution of obstacle avoidance and tries to mitigate it with a new design. With the recent innovation in artificial intelligence, it also explores opportunities to enable and improve the functionalities of obstacle avoidance and navigation using AI techniques. Understanding different types of sensors for both navigation and obstacle avoidance is required for the implementation of the design and a study of the same is presented as a background. A research on an autonomous car is done for better understanding autonomy and learning how it is solving the problem of obstacle avoidance and navigation. The implementation part of the thesis is focused on the design of a robust obstacle avoidance module and is tested with obstacle avoidance sensors such as Garmin lidar and Realsense r200. Image segmentation is used to verify the possibility of using the convolutional neural network for better understanding the nature of obstacles. Similarly, the end to end control with a single camera input using a deep neural network is used for verifying the possibility of using AI for navigation. In the end, a robust obstacle avoidance library is developed and tested both in the simulator and real drone. Image segmentation is implemented, deployed and tested. A possibility of an end to end control is also verified by obtaining a proof of concept

Unsupervised activity recognition for autonomous water drones

We propose an automatic system aimed at discovering relevant activities for aquatic drones employed in water monitoring applications. The methodology exploits unsupervised time series segmentation to pursue two main goals: i) to support on-line decision making of drones and operators, ii) to support off-line analysis of large datasets collected by drones. The main novelty of our approach consists of its unsupervised nature, which enables to analyze unlabeled data. We investigate different variants of the proposed approach and validate them using an annotated dataset having labels for activity \u201cupstream/downstream navigation\u201d. Obtained results are encouraging in terms of clustering purity and silhouette which reach values greater than 0.94 and 0.20, respectively, in the best models

INSPIRE Newsletter Fall 2022

https://scholarsmine.mst.edu/inspire-newsletters/1011/thumbnail.jp

Smartwatch-based drone navigation for inventory management assistance

The objective is to create a prototype of a hands free system that will enable us to control a drone through gestures, that could be used on a warehouse environment for inventory management. The different stages of the work include: *Defining the gestures, hardware and methods to be used *Implementing a gesture recognition algorithm to detect these gestures *Developing software for smartwatch and drone *Connecting the system parts and testin

Drones Detection Using Smart Sensors

Drones are modern and sophisticated technology that have been used in numerous fields. Nowadays, many countries use them in exploration, reconnaissance operations, and espionage in military operations. Drones also have many uses that are not limited to only daily life. For example, drones are used for home delivery, safety monitoring, and others. However, the use of drones is a double-edged sword. Drones can be used for positive purposes to improve the quality of human lives, but they can also be used for criminal purposes and other detrimental purposes. In fact, many countries have been attacked by terrorists using smart drones. Hence, drone detection is an active area of research and it receives the attention of many scholars. Advanced drones are, many times, difficult to detect, and hence they, sometimes, can be life threatening. Currently, most detection methods are based on video, sound, radar, temperature, radio frequency (RF), or Wi-Fi techniques. However, each detection method has several flaws that make them imperfect choices for drone detection in sensitive areas. Our aim is to overcome the challenges that most existing drone detection techniques face. In this thesis, we propose two modeling techniques and compare them to produce an efficient system for drone detection. Specifically, we compare the two proposed models by investigating the risk assessments and the probability of success for each model

Unmanned Aircraft Systems in the Cyber Domain

Unmanned Aircraft 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. This textbook will fully immerse and engage the reader / student in the cyber-security considerations of this rapidly emerging technology that we know as unmanned aircraft systems (UAS). The first edition topics covered National Airspace (NAS) policy issues, information security (INFOSEC), UAS vulnerabilities in key systems (Sense and Avoid / SCADA), navigation and collision avoidance systems, stealth design, intelligence, surveillance and reconnaissance (ISR) platforms; weapons systems security; electronic warfare considerations; data-links, jamming, operational vulnerabilities and still-emerging political scenarios that affect US military / commercial decisions. This second edition discusses state-of-the-art technology issues facing US UAS designers. It focuses on counter unmanned aircraft systems (C-UAS) – especially research designed to mitigate and terminate threats by SWARMS. Topics include high-altitude platforms (HAPS) for wireless communications; C-UAS and large scale threats; acoustic countermeasures against SWARMS and building an Identify Friend or Foe (IFF) acoustic library; updates to the legal / regulatory landscape; UAS proliferation along the Chinese New Silk Road Sea / Land routes; and ethics in this new age of autonomous systems and artificial intelligence (AI).https://newprairiepress.org/ebooks/1027/thumbnail.jp

Subspace clustering for situation assessment in aquatic drones

We propose a novel methodology based on subspace clustering for detecting, modeling and interpreting aquatic drone states in the context of autonomous water monitoring. It enables both more informative and focused analysis of the large amounts of data collected by the drone, and enhanced situation awareness, which can be exploited by operators and drones to improve decision making and autonomy. The approach is completely data-driven and unsupervised. It takes unlabeled sensor traces from several water monitoring missions and returns both a set of sparse drone state models and a clustering of data samples according to these models. We tested the methodology on a real dataset containing data of six different missions, two rivers and four lakes in different countries, for about 5.5 hours of navigation. Results show that the methodology is able to recognize known states “in/out of the water”, “up- stream/downstream navigation” and “manual/autonomous drive”, and to discover meaningful unknown states from their data-based properties, enabling novelty detection

Cyber-Attack Drone Payload Development and Geolocation via Directional Antennae

The increasing capabilities of commercial drones have led to blossoming drone usage in private sector industries ranging from agriculture to mining to cinema. Commercial drones have made amazing improvements in flight time, flight distance, and payload weight. These same features also offer a unique and unprecedented commodity for wireless hackers -- the ability to gain ‘physical’ proximity to a target without personally having to be anywhere near it. This capability is called Remote Physical Proximity (RPP). By their nature, wireless devices are largely susceptible to sniffing and injection attacks, but only if the attacker can interact with the device via physical proximity. A properly outfitted drone can increase the attack surface with RPP (adding a range of over 7 km using off-the-shelf drones), allowing full interactivity with wireless targets while the attacker can remain distant and hidden. Combined with the novel approach of using a directional antenna, these drones could also provide the means to collect targeted geolocation information of wireless devices from long distances passively, which is of significant value from an offensive cyberwarfare standpoint. This research develops skypie, a software and hardware framework designed for performing remote, directional drone-based collections. The prototype is inexpensive, lightweight, and totally independent of drone architecture, meaning it can be strapped to most medium to large commercial drones. The prototype effectively simulates the type of device that could be built by a motivated threat actor, and the development process evaluates strengths and shortcoming posed by these devices. This research also experimentally evaluates the ability of a drone-based attack system to track its targets by passively sniffing Wi-Fi signals from distances of 300 and 600 meters using a directional antenna. Additionally, it identifies collection techniques and processing algorithms for minimizing geolocation errors. Results show geolocation via 802.11 emissions (Wi-Fi) using a portable directional antenna is possible, but difficult to achieve the accuracy that GPS delivers (errors less than 5 m with 95% confidence). This research shows that geolocation predictions of a target cell phone acting as a Wi-Fi access point in a field from 300 m away is accurate within 70.1 m from 300 m away and within 76 meters from 600 m away. Three of the four main tests exceed the hypothesized geolocation error of 15% of the sensor-to-target distance, with tests 300 m away averaging 25.5% and tests 600 m away averaging at 34%. Improvements in bearing prediction are needed to reduce error to more tolerable quantities, and this thesis discusses several recommendations to do so. This research ultimately assists in developing operational drone-borne cyber-attack and reconnaissance capabilities, identifying limitations, and enlightening the public of countermeasures to mitigate the privacy threats posed by the inevitable rise of the cyber-attack drone

Drone Base Station Trajectory Management for Optimal Scheduling in LTE-Based Sparse Delay-Sensitive M2M Networks

Providing connectivity in areas out of reach of the cellular infrastructure is a very active area of research. This connectivity is particularly needed in case of the deployment of machine type communication devices (MTCDs) for critical purposes such as homeland security. In such applications, MTCDs are deployed in areas that are hard to reach using regular communications infrastructure while the collected data is timely critical. Drone-supported communications constitute a new trend in complementing the reach of the terrestrial communication infrastructure. In this study, drones are used as base stations to provide real-time communication services to gather critical data out of a group of MTCDs that are sparsely deployed in a marine environment. Studying different communication technologies as LTE, WiFi, LPWAN and Free-Space Optical communication (FSOC) incorporated with the drone communications was important in the first phase of this research to identify the best candidate for addressing this need. We have determined the cellular technology, and particularly LTE, to be the most suitable candidate to support such applications. In this case, an LTE base station would be mounted on the drone which will help communicate with the different MTCDs to transmit their data to the network backhaul. We then formulate the problem model mathematically and devise the trajectory planning and scheduling algorithm that decides the drone path and the resulting scheduling. Based on this formulation, we decided to compare between an Ant Colony Optimization (ACO) based technique that optimizes the drone movement among the sparsely-deployed MTCDs and a Genetic Algorithm (GA) based solution that achieves the same purpose. This optimization is based on minimizing the energy cost of the drone movement while ensuring the data transmission deadline missing is minimized. We present the results of several simulation experiments that validate the different performance aspects of the technique