In this paper we have developed a vision based navigation and obstacle detection mechanism for unmanned aerial vehicles (UAVs) which can be used effectively in GPS denied regions as well as in regions where remote controlled UAV navigation is impossible thus making the UAV more versatile and fully autonomous. We used a fixed single onboard video camera on the UAV that extracts images of the env...

In recent years, research and development in aerial robotics (i.e., unmanned aerial vehicles, UAVs) has been growing at an unprecedented speed, and there is a need to summarize the background, latest developments, and trends of UAV research. Along with a general overview on the definition, types, categories, and topics of UAV, this work describes a systematic way to identify 1,318 high-quality ...

Recent years have witnessed the fast development of UAVs (unmanned aerial vehicles). As an alternative to traditional image acquisition methods, UAVs bridge the gap between terrestrial and airborne photogrammetry and enable flexible acquisition of high resolution images. However, the georeferencing accuracy of UAVs is still limited by the low-performance on-board GNSS and INS. This paper invest...

Recognizing the significant effort underway to integrate UAV operations in the NAS, a preliminary hazard analysis was conducted for two critical hazards of UAV operation. Models were developed to describe UAV ground impact and midair collisions. Under several assumptions, a model of ground impact was used to calculate the UAV system reliability required to meet a target level of safety, for dif...

Driven by the recent advancement in unmanned aerial vehicle (UAV) technology, this paper proposes a new wireless network architecture of coordinate multipoint (CoMP) in the sky to harness both the benefits of interference mitigation via CoMP and high mobility of UAVs. Specifically, we consider uplink communications in a multi-UAV enabled multi-user system, where each UAV forwards its received s...

The use of unmanned aerial vehicles (UAVs) as communication platforms is of great practical significance in future wireless networks, especially for on-demand deployment in temporary events and emergency situations. Although prior works have shown the performance improvement by exploiting the UAV’s mobility, they mainly focus on delay-tolerant applications. As delay requirements fundamentally l...

The availability of high-resolution Digital Surface Models of coastal environments is of increasing interest for scientists involved in the study of the coastal system processes. Among the range of terrestrial and aerial methods available to produce such a dataset, this study tests the utility of the Structure from Motion (SfM) approach to low-altitude aerial imageries collected by Unmanned Aer...

UAV is widely invested both in military and academic fields. The development and verification of UAV flight control software is an importance issues and hot topic. In this paper, a QP based method is present to develop and formally verify the UAV flight control software. The method combines the UML and OCL constraint language and output the UML file that constrained by OCL to XMI file. Then we ...

In this paper, hierarchical control of an UAV (unmanned aerial vehicle) is proposed. The proposed controller is made up of two sub-systems, namely inner-loop controller and outer-loop controller. The inner-loop controller is an attitude control system while the outer-loop control system is a trajectory control system. In the proposed architecture, a DFNN-(dynamic-fuzzy-neural-network-) based re...