Environmental Perception for Navigation

Traditionally, localisation has been identified as a principal perceptual component of the navigation system of a mobile robot 53 . This has driven continuous research and development on sensors providing direct localisation measurements. There is a large variety of self-localisation solutions available 5 in the literature. However, in general they are characterised by a hard and limiting tradeoff between robustness and cost. As paradigmatic and extreme examples we can refer to solutions based...

Conclusion

The challenge of developing perception as a key competence of vision-based mobile robots is of fundamental importance to their successful application in the real world. Vision provides information on world structure and compares favourably with other sensors due to the large amount of rich data available. In terms of perception, omnidirectional vision has the additional advantage of providing output views (images) with simple geometries. Our sensors output Panoramic and Bird's Eye views that...

Algorithms for Routing Problems Involving UAVs

Sivakumar Rathinam1 and Raja Sengupta2 1 University of California, Berkeley rsiva berkeley.edu 2 University of California, Berkeley raja path.berkeley.edu Abstract. Routing problems naturally arise in several civil and military applications involving Unmanned Aerial Vehicles (UAVs) with fuel and motion constraints. A typical routing problem requires a team of UAVs to visit a collection of targets with an objective of minimizing the total distance travelled. In this chapter, we consider a class...

Predicting Operator Capacity for Supervisory Control of Multiple UAVs

Nehme, Jacob Crandall, and Paul Mitchell Humans and Automation Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts Abstract. With reduced radar signatures, increased endurance, and the removal of humans from immediate threat, uninhabited (also known as unmanned) aerial vehicles (UAVs) have become indispensable assets to militarized forces. UAVs require human guidance to varying degrees and often through several operators. However, with current...

Team Game and Negotiation based Intelligent Autonomous UAV Task Allocation for Wide Area Applications

Ghose3 1 Department of Electrical and Computer Engineering, Brigham Young University, Provo, Utah, USA 2 Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India 3 Department of Aerospace Engineering, Indian Institute of Science, Bangalore, India pbsujit byu.edu, Abstract. Unmanned aerial vehicles (UAV) have the potential to be used for search and surveillance missions, and as munitions in the battlefield. The UAVs are deployed in swarms...

Path Planning for Single and Multiple UAVs

Compared to the path-planning problem in other applications, path planning for UAVs has some of the following characteristics, according to the mission 13, 14, 15 Stealth, in order to minimize the probability of detection by hostile radar, by flying along a route which keeps away from possible threats and or has a lower altitude to avoid radar detection. Physical feasibility, which refers to the physical (or technology) limitations from the use of UAVs, such as limited range, minimum turning...

Omnidirectional Vision Sensors Modelling and Design

In 1843 58 , a patent was issued to Joseph Puchberger of Retz, Austria for the first system that used a rotating camera to obtain omnidirectional images. The original idea for the (static camera) omnidirectional vision sensor was initially proposed by Rees in a US patent dating from 1970 72 . Rees proposed the use of a hyperbolic mirror to capture an omnidirectional image, which could then be transformed to a (normal) perspective image. Since those early days, the spectrum of application has...

N

Where lj is the non-dimensional length of the jth path, given as lj , Lj - I- 12 J xtarget - Xq ,j 2 y target - V0 ,j In Eq. 12 Lj is the length of the jth path, xtarget, ytarget are the coordinates of the target point and x0j, y0j are the coordinates of the jth starting point. In Eq. 12, for the calculation of the non-dimensional length lj, the distance between the starting and target points is subtracted, in order to obtain zero fi value for straight line paths. Term f2 is a penalty term,...