Vector directed path generation and tracking for autonomous unmanned aerial/ ground vehicles

Author(s):  
Willson Amalraj Arokiasami ◽  
Prahlad Vadakkepat ◽  
Kay Chen Tan ◽  
Dipti Srinivasan
2018 ◽  
Vol 06 (04) ◽  
pp. 231-250 ◽  
Author(s):  
Willson Amalraj Arokiasami ◽  
Prahlad Vadakkepat ◽  
Kay Chen Tan ◽  
Dipti Srinivasan

Autonomous unmanned vehicles are preferable in patrolling, surveillance and, search and rescue missions. Multi-agent architectures are commonly used for autonomous control of unmanned vehicles. Existing multi-robot architectures for unmanned aerial and ground robots are generally mission and platform oriented. Collision avoidance, path-planning and tracking are some of the fundamental requirements for autonomous operation of unmanned robots. Though aerial and ground vehicles operate differently, the algorithms for obstacle avoidance, path-planning and path-tracking can be generalized. Service Oriented Interoperable Framework for Robot Autonomy (SOIFRA) proposed in this work is an interoperable multi-agent framework focused on generalizing platform independent algorithms for unmanned aerial and ground vehicles. SOIFRA is behavior-based, modular and interoperable across unmanned aerial and ground vehicles. SOIFRA provides collision avoidance, and, path-planning and tracking behaviors for unmanned aerial and ground vehicles. Vector Directed Path-Generation and Tracking (VDPGT), a vector-based algorithm for real-time path-generation and tracking, is proposed in this work. VDPGT dynamically adopts the shortest path to the destination while minimizing the tracking error. Collision avoidance is performed utilizing Hough transform, Canny contour, Lucas–Kanade sparse optical flow algorithm and expansion of object-based time-to-contact estimation. Simulation and experimental results from Turtlebot and AR Drone show that VDPGT can dynamically generate and track paths, and SOIFRA is interoperable across multiple robotic platforms.


Author(s):  
Qingzeng Ma ◽  
Dongbin Zhang ◽  
Shuo Jin ◽  
Yuan Ren ◽  
Wei Cheng ◽  
...  

2021 ◽  
Author(s):  
Alexander McConville ◽  
Colin Greatwood ◽  
Duncan Hine ◽  
Peiman Moradi ◽  
Thomas S. Richardson

2020 ◽  
Vol 35 (2) ◽  
pp. 101-121
Author(s):  
Chava Brownfield-Stein

Examining the activities of the Israel Defense Forces along the Gaza-Israel border, this article identifies a new phase in what the author calls ‘military-police fusion’. The analysis focuses on novel technologies—remote-controlled weapon stations and unmanned ground vehicles—and on the women soldiers who operate these systems. The central claim is that the blurring of boundaries between military and policing missions, combined with high-tech weaponry, has resulted in the development and implementation of new modes of violence that are currently undergoing a process of redefinition and feminization. The article addresses three key dimensions of the processes occurring in the hybrid operational environment along the Gaza-Israel border: the legal dimension, the technological dimension, and the gender dimension.


2009 ◽  
Vol 29 (5) ◽  
pp. 1382-1384
Author(s):  
Qin JIANG ◽  
Lin-lan LIU ◽  
Xi SU ◽  
Ke CAI
Keyword(s):  

2018 ◽  
Author(s):  
Yuan Zou ◽  
Junqiu Li ◽  
Xiaosong Hu ◽  
Yann Chamaillard

2000 ◽  
Author(s):  
Jeffrey S. Wit ◽  
Carl D. Crane ◽  
Armstrong III ◽  
II David G.

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