| 1. |
- Driankov, Dimiter, 1952-, et al.
(författare)
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An Introduction to Fuzzy Control
- 1996. - 2nd revised
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Bok (refereegranskat)abstract
- Fuzzy controllers are a class of knowledge based controllers using artificial intelligence techniques with origins in fuzzy logic. They can be found either as stand-alone control elements or as integral parts of a wide range of industrial process control systems and consumer products. Applications of fuzzy controllers are an established practice for Japanese manufacturers, and are spreading in Europe and America. The main aim of this book is to show that fuzzy control is not totally ad hoc, that there exist formal techniques for the analysis of a fuzzy controller, and that fuzzy control can be implemented even when no expert knowledge is available. The book is mainly oriented to control engineers and theorists, although parts can be read without any knowledge of control theory and may interest AI people. This 2nd, revised edition incorporates suggestions from numerous reviewers and updates and reorganizes some of the material.
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| 2. |
- Merino, Luis, et al.
(författare)
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Multi-UAV Cooperative Perception Techniques
- 2007
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Ingår i: Multiple Heterogeneous Unmanned Aerial Vehicles. - Berlin / Heidelberg : Springer. - 9783540739579 ; , s. 67-110
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Bokkapitel (populärvet., debatt m.m.)abstract
- This Chapter is devoted to the cooperation of multiple UAVs for environment perception. First, probabilistic methods for multi-UAV cooperative perception are analyzed. Then, the problem of multi-UAV detection, localization and tracking is described, and local image processing techniques are presented. Then, the Chapter shows two approaches based on the Information Filter and on evidence grid representations.
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| 3. |
- Merino, Luis, et al.
(författare)
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Single and Multi-UAV Relative Position Estimation Based on Natural Landmarks
- 2007
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Ingår i: Advances in Unmanned Aerial Vehicles. - Netherlands : Springer. - 9781402061134 - 9781402061141 ; , s. 267-307
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Bokkapitel (populärvet., debatt m.m.)abstract
- This Chapter presents a vision-based method for unmanned aerial vehicle (UAV) motion estimation that uses as input an image motion field obtained from matches of point-like features. The Chapter enhances visionbased techniques developed for single UAV localization and demonstrates how they can be modified to deal with the problem of multi-UAV relative position estimation. The proposed approach is built upon the assumption that if different UAVs identify, using their cameras, common objects in a scene, the relative pose displacement between the UAVs can be computed from these correspondences under certain assumptions. However, although point-like features are suitable for local UAV motion estimation, finding matches between images collected using different cameras is a difficult task that may be overcome using blob features. Results justify the proposed approach.
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| 4. |
- Muskardin, Tin, et al.
(författare)
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A Novel Landing System to Increase Payload Capacity and Operational Availability of High Altitude Long Endurance UAVs
- 2017
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Ingår i: Journal of Intelligent and Robotic Systems. - : SPRINGER. - 0921-0296 .- 1573-0409. ; 88:2-4, s. 597-618
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Tidskriftsartikel (refereegranskat)abstract
- Unmanned stratospheric aircraft capable of staying aloft for long periods of time have become a topic of interest in the past years. Several problems are still to be solved to allow for a profitable commercial use of such aircraft. The inherent lightweight design leads to fragile structures with low payload capacities and a high wind sensitivity. The weather dependence significantly reduces the system's operational availability. To address these drawbacks a novel landing system is proposed in this paper. The landing gear can be removed from the aircraft and a ground-based mobile landing platform is introduced. The main technical challenges consist in the precise relative state estimation and cooperative control of the involved vehicles. A reliable simulation model of the overall system was developed and a number of simulation experiments performed before the actual landing was attempted with an experimental system setup. Multiple successful landing experiments demonstrate the validity of the proposed system.
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| 5. |
- Ollero, Anibal, et al.
(författare)
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Multiple Eyes in the Skies
- 2005
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Ingår i: IEEE robotics & automation magazine. - 1070-9932 .- 1558-223X. ; 12:2, s. 46-57
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Tidskriftsartikel (refereegranskat)abstract
- The management of environmental and industrial disasters, search and rescue operations, surveillance of natural scenarios, environmental monitoring, and many other field robotics applications require high mobility and the need to reach locations that are difficult to access with ground vehicles. In many cases, the use of aerial vehicles is the best way to approach the objective to get information or to deploy instrumentation. Unmanned air vehicles (UAVs) have significantly increased their flight performance and autonomous onboard processing capabilities in the last ten years. But a single aerial vehicle equipped with a large array of different sensors of various modalities is limited at any time to a single viewpoint. A team of aerial vehicles, however, can simultaneously collect information from multiple locations and exploit the information derived from multiple disparate points. Furthermore, having a team with multiple heterogeneous aerial vehicles offers additional advantages due to the possibility of beneficial complementarities of the vehicles.
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