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Planning and control for cooperative launch and capture of drones
Publication . Oliveira, Diogo Nunes de; Guerreiro, Bruno
With the popularity in today’s world of using Unmanned Aerial Vehicles (UAVs) for
different applications and the presence of these machines in various industries, the focus
on building vehicles adapted for specific tasks has increased.
The work presented was developed within the scope of Project CAPTURE which aims
to tackle the challenges of using rotary-wing shuttle drones to aid in the deployment and
landing maneuvers of fixed-wing target drones. This objective emerges as an alternative
to using higher complexity vehicles for specific applications, making use of the benefits
of each type of drone for their usual missions.
This dissertation proposes a solution for the planning and control of a shuttle drone
under a cooperative capture scenario and explores the challenges of implementing such
a system, both in a simulation environment and in real-world hardware. The developed
system was built around the PX4 ecosystem and is based on the Robot Operating System
(ROS) framework to implement a state machine-based controller for the shuttle drone,
which includes a Model Predictive Control (MPC) strategy for the autonomous execution
of the capture maneuver portion of the mission. To test the developed solution on a
real system, this work also describes the instrumentation process of a real-world shuttle
drone.
Simulation results show the success of the cooperative capture maneuver under the
considered scenario, whereas preliminary experimental trials indicate that further re-
search is necessary to actually achieve a capture maneuver. Nonetheless, these experi-
mental trials validate the hardware and software integration of the developed system and
the obtained results showed promising outcomes.
Conceptual Design of an Unmanned Electrical Amphibious Vehicle for Ocean and Land Surveillance
Publication . Policarpo, Hugo; Lourenço, João P.B.; Anastácio, António M.; Parente, Rui; Rego, Francisco; Silvestre, Daniel; Afonso, Frederico; Maia, Nuno M.M.; CTS - Centro de Tecnologia e Sistemas; Faculdade de Ciências e Tecnologia (FCT); MDPI AG
Unmanned vehicles (UVs) have become increasingly important in various scenarios of civil and military operations. The present work aims at the conceptual design of a modular Amphibious Unmanned Ground Vehicle (A-UGV) that can be easily adapted for different types of land and/or water missions with low monetary cost (EUR < 5 k, without sensors). Basing the design on the needs highlighted in the 2021 review of the Strategic Directive of the Portuguese Navy, the necessary specifications and requirements are established for two mission scenarios. Then, a market research analysis focused on vehicles currently available and their technological advances is conducted to identify existing UV solutions and respective characteristics/capabilities of interest to the current work. To study and define the geometry of the hull and the configuration of the A-UGV itself, preliminary computational structural and fluid analyses are carried out to ensure it complies with the specifications initially established. As a result, one obtains a fully electric vehicle with approximate dimensions of 1050 × 670 × 450 mm (length–width–height), enabled with 6 × 6 traction capable of reaching 20 km/h on land, which possesses amphibious capabilities of independent propulsion in water up to 8 kts and an estimated autonomy of over 60 min.
Cooperative navigation using constrained convex generators
Publication . Rego, Francisco; Silvestre, Daniel; CTS - Centro de Tecnologia e Sistemas; Lavoisier
In this article, we suggest a technique of set-based cooperative navigation for a fleet of vehicles under communication constraints. In the suggested approach, only the distances and bearings to other vehicles or known locations can be measured. Each vehicle in the fleet must determine its location and the positions of the other vehicles based on the measurements as well as information shared among the vehicles. Since the measurement set may be nonconvex, it must be approximated by a convex set. To address this issue, we employ constrained convex generators, which is a generalization of the definition for constrained zonotopes that allows ℓ2 unit norm balls and convex cones. To keep the amount of exchanged information low the vehicles transmit an ellipse containing the state estimate to the other vehicles. The obtained estimates are worst-case bounds for the true position, which is important in certain applications such as collision avoidance. The computed sets are then applied to vehicle control algorithms, taking into account the positions of all the agents. Through numerical simulations, we illustrate the application of this method to the problem of cooperative navigation of autonomous underwater vehicles and the problem of fire detection with multiple UAVs.
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Entidade financiadora
Fundação para a Ciência e a Tecnologia
Programa de financiamento
Concurso de Projetos de Investigação Científica e Desenvolvimento Tecnológico no Âmbito da Prevenção e Combate a Incêndios Florestais - 2019
Número da atribuição
PCIF/MPG/0156/2019