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Journal articles on the topic 'Unmanned ground vehicles'

Author: Grafiati
Published: 4 June 2021
Last updated: 21 February 2023

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1

Gorsky, Alexander, Vitaliy Demyanov, and Alexander Zhukov. "Problem of creation ground robotics vehicle." Robotics and Technical Cybernetics 10, no. 2 (June 2022): 154–60. http://dx.doi.org/10.31776/rtcj.10209.

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The article discusses about the system of information support for unmanned ground vehicle and un-manned aerial vehicles with an increased degree of autonomy, arising application difficulties, is considered. Some methodological approaches to calculating the requirements of electronic protection for the data transmission systems of unmanned ground vehicle and unmanned aerial vehicles with an increased degree of autonomy are given.
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2

Chang, Bao Rong, Hsiu-Fen Tsai, Jyong-Lin Lyu, and Chien-Feng Huang. "Distributed sensing units deploying on group unmanned vehicles." International Journal of Distributed Sensor Networks 17, no. 7 (July 2021): 155014772110368. http://dx.doi.org/10.1177/15501477211036877.

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This study aims to use two unmanned vehicles (aerial vehicles and ground vehicles) to implement multi-machine cooperation to complete the assigned tasks quickly. Unmanned aerial/ground vehicles can call each other to send instant inquiry messages using the proposed cooperative communication protocol to hand over the tasks between them and execute efficient three-dimensional collaborative operations in time. This study has demonstrated integrating unmanned aerial/ground vehicles into a group through the control platform (i.e. App operation interface) that uses the Internet of Things. Therefore, pilots can make decisions and communicate through App for cooperative coordination, allowing a group of unmanned aerial/ground vehicles to complete the tasks flexibly. In addition, the payload attached to unmanned air/ground vehicles can carry out multipurpose monitoring that implements face recognition, gas detection, thermal imaging, and video recording. During the experiment of unmanned aerial vehicle, unmanned aerial vehicle will plan the flight path and record the movement trajectory with global positioning system when it is on duty. As a result, the accuracy of the planned flight path achieved 86.89% on average.
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Li, Xin, Guang Ming Xiong, Yang Sun, Shao Bin Wu, Jian Wei Gong, Hui Yan Chen, and Li Gao. "Design on Hierarchical Testing System for Unmanned Ground Vehicles." Advanced Materials Research 346 (September 2011): 817–22. http://dx.doi.org/10.4028/www.scientific.net/amr.346.817.

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The test system for technical abilities of unmanned vehicles is gradually developed from the single test to comprehensive test. The pre-established test and evaluation system can promote the development of unmanned ground vehicles. The 2009 Future Challenge: Intelligent Vehicles and Beyond (FC’09) pushed China's unmanned vehicles out of laboratories. This paper proposed to design a more scientific and comprehensive test system for future competitions to better guide and regulate the development of China's unmanned vehicles. According to the design idea of stage by stage and level by level, the hierarchical test content from simple to advanced, from local to overall is designed. Then the hierarchic test environment is established according to the levels of test content. The test method based on multi-platform and multi-sensor is put forward to ensure the accuracy of test results. The testing criterion framework is set up to regulate future unmanned vehicle contests and to assess the unmanned vehicles scientifically and accurately.
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4

Hay, A., C. Samson, L. Tuck, and A. Ellery. "Magnetic surveying with an unmanned ground vehicle." Journal of Unmanned Vehicle Systems 6, no. 4 (December 1, 2018): 249–66. http://dx.doi.org/10.1139/juvs-2018-0013.

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With the recent proliferation of unmanned aerial vehicles for geophysical surveying, a novel opportunity exists to develop unmanned ground vehicles in parallel. This contribution features a study to integrate the Husky A200 robotic development platform with a GSMP 35U magnetometer that has recently been developed for the unmanned aerial vehicle market. Methods to identify and reduce the impact of magnetically noisy components on the unmanned ground vehicle platforms are discussed. The noise generated by the platform in laboratory and gentle field conditions, estimated using the fourth difference method for a magnetometer–vehicle separation distance of 121 cm and rotation of the chassis wheels at full speed (1 m/s), is ±1.97 nT. The integrated unmanned ground vehicle was used to conduct two robotic magnetic surveys to map cultural targets and natural variations of the magnetic field. In realistic field conditions, at a full speed of 1 m/s, the unmanned ground vehicle measured total magnetic intensity over a range of 1730 nT at 0.1 m spatial resolution with a productivity of 2651 line metres per hour.
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Ali, Ali M., Md Asri Ngadi, Rohana Sham, and Israa Ibraheem Al_Barazanchi. "Enhanced QoS Routing Protocol for an Unmanned Ground Vehicle, Based on the ACO Approach." Sensors 23, no. 3 (January 28, 2023): 1431. http://dx.doi.org/10.3390/s23031431.

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Improving models for managing the networks of firefighting unmanned ground vehicles in crowded areas, as a recommendation system (RS), represented a difficult challenge. This challenge comes from the peculiarities of these types of networks. These networks are distinguished by the network coverage area size, frequent network connection failures, and quick network structure changes. The research aims to improve the communication network of self-driving firefighting unmanned ground vehicles by determining the best routing track to the desired fire area. The suggested new model intends to improve the RS regarding the optimum tracking route for firefighting unmanned ground vehicles by employing the ant colony optimization technique. This optimization method represents one of the swarm theories utilized in vehicles ad–hoc networks and social networks. According to the results, the proposed model can enhance the navigation of self-driving firefighting unmanned ground vehicles towards the fire region, allowing firefighting unmanned ground vehicles to take the shortest routes possible, while avoiding closed roads and traffic accidents. This study aids in the control and management of ad–hoc vehicle networks, vehicles of everything, and the internet of things.
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Al-Bkree, Mahmod. "Optimizing Perimeter Surveillance Drones to enhance the security system of unmanned aerial vehicles." Security science journal 2, no. 2 (December 13, 2021): 105–15. http://dx.doi.org/10.37458/ssj.2.2.7.

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This work is to optimize perimeter surveillance and explore the distribution of ground bases for unmanned aerial vehicles along the Jordanian border and optimize the set of technologies for each aerial vehicle. This model is part of ongoing research on perimeter security systems based on unmanned aerial vehicles. The suggested models give an initial insight about selecting technologies carried by unmanned aerial vehicles based on their priority; it runs for a small scale system that can be expanded, the initial results show the need for at least four ground bases along the length of the border, and a selected set of various technologies for each vehicle.
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7

Zhang, Xin, Yan An Zhao, Li Gao, and Dong Hao Hao. "Evaluation Framework and Method of the Intelligent Behaviors of Unmanned Ground Vehicles Based on AHP Scheme." Applied Mechanics and Materials 721 (December 2014): 476–80. http://dx.doi.org/10.4028/www.scientific.net/amm.721.476.

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In order to provide basis and standards to the research on unmanned driving behaviors, a more thorough evaluation system of Intelligent Behavior for Unmanned Ground Vehicles needs to come forward. The intelligent behavior of unmanned ground vehicles in pedestrian crossing scenario is taken as an example in this paper. By using building and analyzing evaluation index system, this paper proposes an evaluation method that can comprehensively expressed the technological performance of unmanned ground vehicles based on Analytic Hierarchy Process (AHP). Compared with traditional methods, this evaluation method takes index weight into sufficient conderations and is more objective. The method properly works out with index weight of specific scenarios that reflects the actual situations. The establishment of comprehensive scoring method objectively and conveniently turns the performances of unmanned ground vehicle into scores, so that the results can be compared and ranked directly. Last but not least, a certain participating vehicle is used for case study. The result proves aforementioned method to be practical, reliable, convenient and logical. It not only evaluates the assessment comprehensively, but also evaluates the index separately to guide researchers to find out the defects of unmanned driving vehicle evaluation indexes and point out ways to improve them.
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8

Liu, Qi, Zirui Li, Shihua Yuan, Yuzheng Zhu, and Xueyuan Li. "Review on Vehicle Detection Technology for Unmanned Ground Vehicles." Sensors 21, no. 4 (February 14, 2021): 1354. http://dx.doi.org/10.3390/s21041354.

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Unmanned ground vehicles (UGVs) have great potential in the application of both civilian and military fields, and have become the focus of research in many countries. Environmental perception technology is the foundation of UGVs, which is of great significance to achieve a safer and more efficient performance. This article firstly introduces commonly used sensors for vehicle detection, lists their application scenarios and compares the strengths and weakness of different sensors. Secondly, related works about one of the most important aspects of environmental perception technology—vehicle detection—are reviewed and compared in detail in terms of different sensors. Thirdly, several simulation platforms related to UGVs are presented for facilitating simulation testing of vehicle detection algorithms. In addition, some datasets about UGVs are summarized to achieve the verification of vehicle detection algorithms in practical application. Finally, promising research topics in the future study of vehicle detection technology for UGVs are discussed in detail.
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9

Shipov, Il’ya, and Evgeniy Vetoshkin. "Integrated navigation of unmanned ground vehicles." Robotics and Technical Cybernetics 9, no. 2 (June 30, 2021): 127–32. http://dx.doi.org/10.31776/rtcj.9207.

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The article considers the experience of creating integrated navigation systems for ground robotic complexes. The main difficulties of choosing the instrument composition and element base in the conditions of domestic industry are outlined. A typical algorithm for prioritizing the initial data for the integrating and generating solutions algorithm for tasks of orientation and determining spatial position is described.
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10

Muangmin, Kamonwan, and Thanapat Wanichanon. "Formation keeping of unmanned ground vehicles." MATEC Web of Conferences 95 (2017): 09006. http://dx.doi.org/10.1051/matecconf/20179509006.

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11

Valerio, Carlos G., Néstor Aguillón, Eduardo S. Espinoza, and Rogelio Lozano. "Reference Generator for a System of Multiple Tethered Unmanned Aerial Vehicles." Drones 6, no. 12 (December 1, 2022): 390. http://dx.doi.org/10.3390/drones6120390.

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This paper deals with the references generation for a team of unmanned aerial vehicles tethered to a ground station for inspection applications. In order to deploy the team of vehicles in a suitable location to cover the largest area, each vehicle is commanded to securely navigate in an area of interest while it is tethered to another vehicle or to a ground station. To generate the corresponding reference for each vehicle, we used a model predictive controller, which optimizes the desired trajectory based on the mission-defined constraints. To validate the effectiveness of the proposed strategy, we conducted a simulation and experimental tests with a team of consumer unmanned aerial vehicles tethered to a ground station.
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12

Akopov, A. S., N. K. Khachatryan, L. A. Beklaryan, and A. L. Beklaryan. "UNMANNED VEHICLE CONTROL SYSTEM BASED ON FUZZY CLUSTERING. PART 2. FUZZY CLUSTERING AND SOFTWARE IMPLEMENTATION." Vestnik komp'iuternykh i informatsionnykh tekhnologii, no. 196 (October 2020): 21–29. http://dx.doi.org/10.14489/vkit.2020.10.pp.021-029.

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This article continues the description of the control system for ground unmanned vehicles as part of the integration of a phenomenological approach to modeling the behavior of agents and methods of fuzzy clustering in order to improve the quality of decisions. As a result, adaptive fuzzy clustering methods provide support for adaptive ground unmanned vehicles control, which minimizes the risks of accidents (emergencies involving ground unmanned vehicles) and maximizes traffic (total output stream) in conditions of heavy traffic. The second part is devoted to the description of the developed fuzzy clustering algorithm, software implementation and experiments. As a result, within the framework of the developed model of ground unmanned vehicles movement, fuzzy clustering methods are used to ensure the procedure for choosing the most preferable (least dense) lane in conditions of heavy traffic and to support continuous information exchange between ground unmanned vehicles. The software implementation of the developed simulation model in the AnyLogic environment was performed and numerical experiments aimed at analyzing scenarios of the development of the road situation with the participation of the ground unmanned vehicles ensemble were carried out. Various behavioral scenarios of the developed ground unmanned vehicles control system were investigated, and agent clustering was performed for each scenario under consideration. As a result of numerical experiments, the effectiveness of using the proposed fuzzy clustering procedure to assess the density of the road flow and adaptive control and maneuvering of the ground unmanned vehicles is confirmed.
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13

Akopov, A. S., N. K. Khachatryan, L. A. Beklaryan, and A. L. Beklaryan. "UNMANNED VEHICLE CONTROL SYSTEM BASED ON FUZZY CLUSTERING. PART 2. FUZZY CLUSTERING AND SOFTWARE IMPLEMENTATION." Vestnik komp'iuternykh i informatsionnykh tekhnologii, no. 196 (October 2020): 21–29. http://dx.doi.org/10.14489/vkit.2020.10.pp.021-029.

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This article continues the description of the control system for ground unmanned vehicles as part of the integration of a phenomenological approach to modeling the behavior of agents and methods of fuzzy clustering in order to improve the quality of decisions. As a result, adaptive fuzzy clustering methods provide support for adaptive ground unmanned vehicles control, which minimizes the risks of accidents (emergencies involving ground unmanned vehicles) and maximizes traffic (total output stream) in conditions of heavy traffic. The second part is devoted to the description of the developed fuzzy clustering algorithm, software implementation and experiments. As a result, within the framework of the developed model of ground unmanned vehicles movement, fuzzy clustering methods are used to ensure the procedure for choosing the most preferable (least dense) lane in conditions of heavy traffic and to support continuous information exchange between ground unmanned vehicles. The software implementation of the developed simulation model in the AnyLogic environment was performed and numerical experiments aimed at analyzing scenarios of the development of the road situation with the participation of the ground unmanned vehicles ensemble were carried out. Various behavioral scenarios of the developed ground unmanned vehicles control system were investigated, and agent clustering was performed for each scenario under consideration. As a result of numerical experiments, the effectiveness of using the proposed fuzzy clustering procedure to assess the density of the road flow and adaptive control and maneuvering of the ground unmanned vehicles is confirmed.
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14

Typiak, Andrzej, and Michał Gnatowski. "Map Building System for Unmanned Ground Vehicle." Solid State Phenomena 180 (November 2011): 131–36. http://dx.doi.org/10.4028/www.scientific.net/ssp.180.131.

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A typical unmanned and remotely operated vehicle is usually equipped with cameras which give insufficient information about the nearest environment and an operator has difficulties in driving such a vehicle in unknown environment. In this paper, we consider a problem of the vehicle nearest area map building based on additional devices. The vehicle is equipped with SICK LMS lasers, inclinometer and radars. Combining information from the devices allows to build a map which helps an operator to drive the vehicle more efficiently. We tested the system on a few military vehicles and the results show that our system really improves remotely driving.
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15

Kuprinenko, O., V. Mocherad, S. Zahrebelnyi, and O. Sliusarenko. "Determination of the need of the army in unmanned ground vehicles." Military Technical Collection, no. 26 (June 23, 2022): 33–41. http://dx.doi.org/10.33577/2312-4458.26.2022.33-41.

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The introduction of the latest technologies into the military sphere expands the capabilities of modern weapons systems and changes the nature of threats, forms and methods of warfare. The lack of resources for symmetrical opposition to Russia's armed aggression against Ukraine, on the one hand, and the real possibilities of using the latest technologies in the formation of an asymmetric countermeasure potential, on the other, determine the urgent need to develop unmanned ground vehicles for the needs of the Army of the Armed Forces of Ukraine. The article deals with problematic issues related to the conduct of military scientific research to determine the need and expediency in the development (purchase) of the latest models of unmanned ground vehicles. It is shown that the unresolved nature of these issues exacerbates the contradiction between the developers of unmanned ground vehicles and the Customer (Army). This contradiction is due to a misunderstanding of what kind of unmanned ground vehicles the Army need. Realizing that robotization is a global trend, the Army, as a rule, is skeptical about the capabilities of unmanned ground vehicles to effectively perform tasks in real combat conditions, and domestic manufacturers of unmanned ground vehicles, on their own initiative, are trying to prove to the Army that the samples they have proposed will increase the efficiency of the units Army. In order to improve the mechanism for determining the need for unmanned ground vehicles, an approach is proposed, the essence of which is to fulfill the principle of unity of three categories: the need, possibility and feasibility of creating the latest models of unmanned ground vehicles. The implementation of the proposed approach will make it possible to form operational and tactical requirements for unmanned ground vehicles "not divorced" from real needs, scientific, technical, production and economic capabilities.
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Sun, Yang, Guang Ming Xiong, Hui Yan Chen, Shao Bin Wu, Jian Wei Gong, and Yan Jiang. "A Cost Function-Oriented Quantitative Evaluation Method for Unmanned Ground Vehicles." Advanced Materials Research 301-303 (July 2011): 701–6. http://dx.doi.org/10.4028/www.scientific.net/amr.301-303.701.

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Task driven approach is widely used as an evaluation method for intelligent vehicle, however this approach may lead to many teams using the conservative approach to complete the task. Although the competition task can be completed, it has deviated from the goal of technological development actually. A cost function-oriented quantitative evaluation method is proposed in this study. The time to complete each task and the quality of each indicator are considered in the evaluation method. The cost function-oriented quantitative evaluation method guides the intelligent vehicle’s development in the "low-cost index" (i.e. high technology) direction. The evaluation results in the 2010 Future Challenge: Intelligent Vehicles and Beyond (FC’ 2010) competition showed that the proposed method can quantitatively evaluate the overall technical performance and individual technical performance of unmanned vehicles.
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Zhao, Ya-Nan, Kai-Wen Meng, and Li Gao. "The Entropy-Cost Function Evaluation Method for Unmanned Ground Vehicles." Mathematical Problems in Engineering 2015 (2015): 1–6. http://dx.doi.org/10.1155/2015/410796.

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To improve the technology of unmanned ground vehicles, it is necessary to conduct a proper evaluation on various technologies. Previous evaluation methods are mainly based on completion of the task; this may mislead most of teams of unmanned ground vehicles using a conservative strategy during the evaluation. In this paper, a new evaluation method is proposed. Based on typical working conditions including intersection, car-following, and obstacle-avoiding, the new evaluation indicator system is established, and the entropy-cost function method is applied to the comprehensive evaluation of unmanned ground vehicles. As reported in a numerical example, the proposed evaluation method can get a quantitative result that authentically reflects the intelligent behavior level of unmanned ground vehicles.
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Bis, Rachael, Huei Peng, and A. Galip Ulsoy. "Vehicle occupancy space for unmanned ground vehicles with actuation error." International Journal of Vehicle Autonomous Systems 12, no. 2 (2014): 180. http://dx.doi.org/10.1504/ijvas.2014.060115.

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19

Meng, Channa, John Morris, and Chattraku Sombattheera. "Tracking from Unmanned Aerial Vehicles." Applied Mechanics and Materials 781 (August 2015): 491–94. http://dx.doi.org/10.4028/www.scientific.net/amm.781.491.

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We use multiple tracking agents in parallel for autonomously tracking an arbitrary target from an unmanned aerial vehicle. An object initially selected by a user from a possibly cluttered scene containing other static and moving objects and occlusions - both partial and complete - is tracked as long as it remains in view using a single light-weight camera readily installed in a UAV. We assumed, for the present, at least, that the UAV sends images to a ground station which controls it. We evaluated several individual tracking agents in terms of tracking success and their times for processing frames streamed from the UAV to the ground station at 25 fps, so that the system shoud compute results in 40ms. Histogram trackers were most successful at $\sim 10$ ms per frame which can be further optimized.
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20

Arokiasami, Willson Amalraj, Prahlad Vadakkepat, Kay Chen Tan, and Dipti Srinivasan. "Real-Time Path-Generation and Path-Following Using an Interoperable Multi-Agent Framework." Unmanned Systems 06, no. 04 (October 2018): 231–50. http://dx.doi.org/10.1142/s2301385018500061.

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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.
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Väljaots, E., and R. Sell. "Energy efficiency profiles for unmanned ground vehicles." Proceedings of the Estonian Academy of Sciences 68, no. 1 (2019): 55. http://dx.doi.org/10.3176/proc.2019.1.04.

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Hester, Geoff, Chris Smith, Pete Day, and Antony Waldock. "The Next Generation of Unmanned Ground Vehicles." Measurement and Control 45, no. 4 (May 2012): 117–21. http://dx.doi.org/10.1177/002029401204500404.

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23

Liu, Sheng, Jingxiang Yu, Zhenghao Ke, Fengji Dai, and Yibin Chen. "Aerial–ground collaborative 3D reconstruction for fast pile volume estimation with unexplored surroundings." International Journal of Advanced Robotic Systems 17, no. 2 (March 1, 2020): 172988142091994. http://dx.doi.org/10.1177/1729881420919948.

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Fast and accurate pile volume estimation is a very important basic problem in mining, waste sorting, and waste disposing industry. Nevertheless, for rapid changing or badly conditioned piles like stockpiles or landfills, conventional approaches involving massive measurements may not be applicable. To solve these problems, in this work, by utilizing unmanned aerial vehicles and unmanned ground vehicles equipped with a camera, we propose a collaborative framework to estimate volumes of free-formed piles accurately in short time. Compensating aerial- and ground views enable the reconstruction of piles with steep sides that is hard to be observed by single unmanned aerial vehicle. With the help of red-green-blue image sequences captured by unmanned aerial vehicles, we are able to distinguish piles from the ground in reconstructed point clouds and automatically eliminate concave on the ground while estimating pile volume. In the experiments, we compared our method to state-of-the-art dense reconstruction photogrammetry approaches. The results show that our approach for pile volume estimation has proved its feasibility for industrial use and its availability to free-formed piles on a different scale, providing high-accuracy estimation results in short time.
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Fabris, Eduardo Jose, Vicenzo Abichequer Sangalli, Leonardo Pavanatto Soares, and Márcio Sarroglia Pinho. "Immersive telepresence on the operation of unmanned vehicles." International Journal of Advanced Robotic Systems 18, no. 1 (January 1, 2021): 172988142097854. http://dx.doi.org/10.1177/1729881420978544.

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Unmanned ground vehicles are usually deployed in situations, where it is too dangerous or not feasible to have an operator onboard. One challenge faced when such vehicles are teleoperated is maintaining a high situational awareness, due to aspects such as limitation of cameras, characteristics of network transmission, and the lack of other sensory information, such as sounds and vibrations. Situation awareness refers to the understanding of the information, events, and actions that will impact the execution and the objectives of the tasks at the current and near future of the operation of the vehicle. This work investigates how the simultaneous use of immersive telepresence and mixed reality could impact the situation awareness of the operator and the navigation performance. A user study was performed to compare our proposed approach with a traditional unmanned vehicle control station. Quantitative data obtained from the vehicle’s behavior and the situation awareness global assessment technique were used to analyze such impacts. Results provide evidence that our approach is relevant when the task requires a detailed observation of the surroundings, leading to higher situation awareness and navigation performance.
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Miteva, Rositsa, Todor Kunchev, Svetoslav Zabunov, Garo Mardirossian, and Roxandra Pamukoff-Michelson. "Ionizing Radiation Sensor for Nanosatellites, Microdrones and Small Unmanned Ground Vehicles." Aerospace Research in Bulgaria 34 (2022): 56–65. http://dx.doi.org/10.3897/arb.v34.e04.

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The purpose of this paper is to present an ionizing radiation sensor suitable for nanosatellites, small drones and other types of unmanned vehicles. When implemented on an airborne or ground-based unmanned vehicle the sensor is beneficial in disaster management scenarios such as inspection of buildings and facilities for ionizing radiation contamination and measurements of the ionizing radiation dose. Herein, a design and laboratory tests of the sensor are presented. The instrument is a lightweight module having low power consumption suitable for nanosatellite platforms and for mobile use by having it installed in an unmanned system (airborne or ground-based). For test purposes a 36-rotor drone was developed along with a mobile ground based unmanned vehicle. With all implementations the radiological sensor is directly connected to the main processor unit of the platform. In the case of the drone and ground-based vehicle systems the processor unit is the microcontroller of the autopilot. Experimental results of laboratory measurements of different radiation sources are shown and discussed. The experimental setup demonstrates a few advances related to specific problems encountered in the existing ionizing radiation measurement systems.
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Palacios, Filiberto Muñoz, Eduardo Steed Espinoza Quesada, Guillaume Sanahuja, Sergio Salazar, Octavio Garcia Salazar, and Luis Rodolfo Garcia Carrillo. "Test bed for applications of heterogeneous unmanned vehicles." International Journal of Advanced Robotic Systems 14, no. 1 (January 1, 2017): 172988141668711. http://dx.doi.org/10.1177/1729881416687111.

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This article addresses the development and implementation of a test bed for applications of heterogeneous unmanned vehicle systems. The test bed consists of unmanned aerial vehicles (Parrot AR.Drones versions 1 or 2, Parrot SA, Paris, France, and Bebop Drones 1.0 and 2.0, Parrot SA, Paris, France), ground vehicles (WowWee Rovio, WowWee Group Limited, Hong Kong, China), and the motion capture systems VICON and OptiTrack. Such test bed allows the user to choose between two different options of development environments, to perform aerial and ground vehicles applications. On the one hand, it is possible to select an environment based on the VICON system and LabVIEW (National Instruments) or robotics operating system platforms, which make use the Parrot AR.Drone software development kit or the Bebop_autonomy Driver to communicate with the unmanned vehicles. On the other hand, it is possible to employ a platform that uses the OptiTrack system and that allows users to develop their own applications, replacing AR.Drone’s original firmware with original code. We have developed four experimental setups to illustrate the use of the Parrot software development kit, the Bebop Driver (AutonomyLab, Simon Fraser University, British Columbia, Canada), and the original firmware replacement for performing a strategy that involves both ground and aerial vehicle tracking. Finally, in order to illustrate the effectiveness of the developed test bed for the implementation of advanced controllers, we present experimental results of the implementation of three consensus algorithms: static, adaptive, and neural network, in order to accomplish that a team of multiagents systems move together to track a target.
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Liu, Jun, Pengliang Yang, Mingming Lu, Lei Sun, and He Huang. "Research on the reconstruction configuration and motion behavior of unmanned metamorphic vehicle." International Journal of Advanced Robotic Systems 19, no. 1 (January 1, 2022): 172988142210759. http://dx.doi.org/10.1177/17298814221075931.

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As a new type of ground transportation system, an unmanned metamorphic vehicle can naturally switch between wheeled driving and legged walking through vehicle reconstruction. Therefore, compared with traditional vehicles, unmanned metamorphic vehicles can move quickly on structural roads and have high trafficability on nonstructural roads. Furthermore, an unmanned metamorphic vehicle is applicable to interstellar detection and earthquake rescue. In this study, the topological structure of an unmanned metamorphic vehicle was designed and the reconstruction process was described. In addition, a kinematic analysis was conducted on the three stages (supporting, lifting, and standing-up) of reconfiguring the metamorphic vehicle. The kinematic and corresponding dynamic models were established based on the screw theory and the Lagrange equation. A Matlab/Simulink simulation was then carried out for the unmanned metamorphic vehicle. The simulation results describe the motion behavior of the system reconstruction, illustrating that the established kinematic and dynamic models are reasonable. Finally, the correctness of the abovementioned kinematic and dynamic models was further verified by Adams virtual prototype simulation. The above findings provide a solid foundation for future studies on stability control during the reconstruction of unmanned metamorphic vehicles.
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Parfiryev, A. V., O. V. Parfiryeva, and A. V. Dushkin. "Optimization of the algorithm of information analysis and processing in the optoelectronic system." Proceedings of Universities. Electronics 27, no. 1 (February 2022): 106–19. http://dx.doi.org/10.24151/1561-5405-2022-27-1-106-119.

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The accuracy of the coordinates of ground objects measured using optical instruments by unmanned aerial vehicles depends on many factors including: errors in measuring the angular coordinates of the optical system, the distance to the object, the presence of heterogeneous terrain, etc. Traditional use of optoelectronic systems functioning based on inertial sensors demonstrated their flaws, such as low accuracy at ground objects positioning for target designation to unmanned aerial vehicles due to declination angle and azimuth determination inaccuracy. In this work, a variant of optimizing the algorithm for analyzing and processing information in an optoelectronic system for determining the coordinates of ground objects from an unmanned aerial vehicle is presented. An algorithm and a method for determining geographical coordinates based on an electronic height matrix have been developed. An increase in the accuracy of calculating the coordinates of an object was achieved by minimizing the error of measuring the declination angle, azimuth on a ground object and inclined range. A description of a full-scale experiment with a car on the ground is given. Its essence was that according to several freeze frames obtained by the optoelectronic system of an unmanned aerial vehicle at a considerable distance with a large inclined range, the geographical coordinates of the car were determined in two ways (traditional and developed). With the help of the method proposed by the authors, the accuracy of determining coordinates has been increased several times. The developed algorithm and method for information processing make it possible to create a variety of hardware and software solutions for guidance and target designation systems of unmanned aerial vehicles.
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Shuang, Xuecheng, and Yan Zhang. "Design of Unmanned Wing-in-ground Effect Vehicle with Tri-fold Main Wing." E3S Web of Conferences 248 (2021): 02062. http://dx.doi.org/10.1051/e3sconf/202124802062.

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This paper proposed an innovative design of unmanned wing-in-ground effect vehicle with tri-fold main wing, aiming at optimizing the main wing of unmanned vehicles based on its current application. The design also takes into account the speed and load in an effort to improve efficiency and broaden the application of the vehicle. In addition, the unmanned GEV is driven by electric power and propelled by the main and auxiliary propellers, which is well supported by the ground effect. The design features energy conservation and emission reduction, which is worthy of promoting in the market.
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Chen, Yingjue, Yingnan Gu, Panfeng Li, and Feng Lin. "Minimizing the number of wireless charging PAD for unmanned aerial vehicle–based wireless rechargeable sensor networks." International Journal of Distributed Sensor Networks 17, no. 12 (December 2021): 155014772110559. http://dx.doi.org/10.1177/15501477211055958.

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In wireless rechargeable sensor networks, most researchers address energy scarcity by introducing one or multiple ground mobile vehicles to recharge energy-hungry sensor nodes. The charging efficiency is limited by the moving speed of ground chargers and rough environments, especially in large-scale or challenging scenarios. To address the limitations, researchers consider replacing ground mobile chargers with lightweight unmanned aerial vehicles to support large-scale scenarios because of the unmanned aerial vehicle moving at a higher speed without geographical limitation. Moreover, multiple automatic landing wireless charging PADs are deployed to recharge unmanned aerial vehicles automatically. In this work, we investigate the problem of introducing the minimal number of PADs in unmanned aerial vehicle–based wireless rechargeable sensor networks. We propose a novel PAD deployment scheme named clustering-with-double-constraints and disks-shift-combining that can adapt to arbitrary locations of the base station, arbitrary geographic distributions of sensor nodes, and arbitrary sizes of network areas. In the proposed scheme, we first obtain an initial PAD deployment solution by clustering nodes in geographic locations. Then, we propose a center shift combining algorithm to optimize this solution by shifting the location of PADs and attempting to merge the adjacent PADs. The simulation results show that compared to existing algorithms, our scheme can charge the network with fewer PADs.
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Nagy, Dávid, and Péter Gáspár. "Active suspension control design for unmanned ground vehicles." Periodica Polytechnica Transportation Engineering 40, no. 1 (2012): 27. http://dx.doi.org/10.3311/pp.tr.2012-1.05.

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32

PAILLAT, Jean-Luc, Philippe LUCIDARME, and Laurent HARDOUIN. "Evolutionnary stair climbing controler for Unmanned Ground Vehicles." IFAC Proceedings Volumes 42, no. 16 (2009): 131–36. http://dx.doi.org/10.3182/20090909-4-jp-2010.00024.

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Akopov, A. S., L. A. Beklaryan, N. K. Khachatryan, A. L. Beklaryan, and E. V. Kuznetsova. "Multi-Agent Control System for Unmanned Ground Vehicles." Informacionnye tehnologii 26, no. 6 (June 23, 2020): 342–53. http://dx.doi.org/10.17587/it.26.342-353.

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34

Rucco, Alessandro, P. B. Sujit, A. Pedro Aguiar, Joao Borges de Sousa, and F. Lobo Pereira. "Optimal Rendezvous Trajectory for Unmanned Aerial-Ground Vehicles." IEEE Transactions on Aerospace and Electronic Systems 54, no. 2 (April 2018): 834–47. http://dx.doi.org/10.1109/taes.2017.2767958.

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35

Evans, William A., and Susan G. Hill. "Investigating Operator Aids for Autonomous Unmanned Ground Vehicles." Proceedings of the Human Factors and Ergonomics Society Annual Meeting 59, no. 1 (September 2015): 1032–36. http://dx.doi.org/10.1177/1541931215591292.

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36

Gorsich, David J., Paramsothy Jayakumar, Michael P. Cole, Cory M. Crean, Abhinandan Jain, and Tulga Ersal. "Evaluating mobility vs. latency in unmanned ground vehicles." Journal of Terramechanics 80 (December 2018): 11–19. http://dx.doi.org/10.1016/j.jterra.2018.10.001.

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37

SONG, XIAOJING, LAKMAL D. SENEVIRATNE, KASPAR ALTHOEFER, and ZIBIN SONG. "VISION-BASED VELOCITY ESTIMATION FOR UNMANNED GROUND VEHICLES." International Journal of Information Acquisition 04, no. 04 (December 2007): 303–15. http://dx.doi.org/10.1142/s021987890700137x.

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A novel vision-based velocity estimation technique is presented in this paper. A monocular camera rigidly attached to an unmanned ground vehicle (UGV) is used to capture image sequences of the terrain surface and compute the image velocities using an optical flow method. Combining with the proposed camera model, the velocity of the UGV can be directly estimated. This velocity estimation method is validated over coarse sand, fine sand and mixture of coarse sand and gravel separately. Estimated velocities are compared to measured velocities from highly accurate optical encoders, showing the maximum error is less than 1.5%. The effect of feature window size and the distance between the camera projection center and the terrain surface on the velocity estimation is investigated. Random white noise is added to test the robustness of the algorithm and the results are encouraging. The proposed velocity estimation method has many promising potential applications.
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38

Sadrpour, Amir, Jionghua Jin, A. Galip Ulsoy, and Hyo Jong Lee. "Simulation-based acceptance testing for unmanned ground vehicles." International Journal of Vehicle Autonomous Systems 11, no. 1 (2013): 62. http://dx.doi.org/10.1504/ijvas.2013.052274.

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39

Bartnicki, Adam. "Teleoperation in Remote Steering System Built in Unmanned Land Vehicles." Solid State Phenomena 223 (November 2014): 333–39. http://dx.doi.org/10.4028/www.scientific.net/ssp.223.333.

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Unmanned ground platforms are increasingly used to perform tasks under direct threat to the operator’s life and health. Separating an operator from a controlled machine places high demands to its steering system. The requirement of reliability put to such platforms in terms of potential threats requires their steering systems to be very precisely controlled and tested at the stage of construction. The key element in the steering process of unmanned ground platforms are surroundings display systems that determine the success of conducting rescue operations. This paper presents an unmanned ground platform controlled by remote operator.
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40

Арешев, Д. С. "Quality assessment of digital processing of images obtained by aerial photography with unmanned aerial vehicles." Informacionno-technologicheskij vestnik, no. 4(30) (December 15, 2021): 83–88. http://dx.doi.org/10.21499/2409-1650-30-4-83-88.

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Аэрофотосъемка и воздушная фотограмметрия с использованием беспилотных летательных аппаратов обеспечивают качество фотографий, не уступающее качеству, достигаемому при наземной фотосъемке, вместе с тем, использование беспилотных летательных аппаратов предоставляет более широкие возможности для формирования трехмерных изображений различных объектов, по сравнению с наземной фотосъемкой. Цифровая обработка видеоинформации, полученной при помощи фотокамеры, установленной на беспилотном летательном аппарате, требует проведения большого объема вычислений, поэтому актуальной задачей является оценка качества получаемого изображения для оптимизации алгоритмов обработки. Aerial photography and aerial photogrammetry with unmanned aerial vehicles provides photo quality not worse than the quality оf ground photography, however unmanned aerial vehicles provides more potential for getting 3D images of various objects than ground photography. Digital processing of video information obtained with a camera mounted on an unmanned aerial vehicle requires a great amount of calculations therefore quality assessment of the resulting images is an actual task to optimize processing algorithms.
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Tsarichenko, Sergey, Evgeniy Antokhin, Leonid Voronin, and Sergey Zhdanov. "Basic requirements for complexes with unmanned aerial vehicles intended for inclusion in the combat equipment of military personnel." Robotics and Technical Cybernetics 9, no. 4 (December 30, 2022): 252–59. http://dx.doi.org/10.31776/rtcj.9402.

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Abstract The article provides a brief analysis of the existing scientific and technical groundwork created by Russian and for-eign specialists in the development of complexes with mini-class unmanned aerial vehicles. Based on the results of the analysis, a list of the main tactical and technical requirements for complexes with unmanned aerial vehicles intended for inclusion in the advanced combat equipment of military personnel is proposed. Key words Tactical and technical requirements for mini-class unmanned aerial vehicles; combat equipment of military personnel; small-sized unmanned aerial vehicles; ground control station.
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42

Väljaots, Eero, Raivo Sell, and Mati Kaeeli. "Motion and Energy Efficiency Parameters of the Unmanned Ground Vehicle." Solid State Phenomena 220-221 (January 2015): 934–39. http://dx.doi.org/10.4028/www.scientific.net/ssp.220-221.934.

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The paper investigates the data acquisition method and a system of wheeled mobile unmanned ground vehicles (UGV) for characterization and optimization of motion and energy efficiency. This enables to conduct real-time and conditional field tests. The obtained results are used for an advanced methodology framework for robotic design targeted on the development, simulation and testing of vehicle platforms along the entire design process.
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Cantieri, Alvaro, Matheus Ferraz, Guido Szekir, Marco Antônio Teixeira, José Lima, André Schneider Oliveira, and Marco Aurélio Wehrmeister. "Cooperative UAV–UGV Autonomous Power Pylon Inspection: An Investigation of Cooperative Outdoor Vehicle Positioning Architecture." Sensors 20, no. 21 (November 9, 2020): 6384. http://dx.doi.org/10.3390/s20216384.

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Realizing autonomous inspection, such as that of power distribution lines, through unmanned aerial vehicle (UAV) systems is a key research domain in robotics. In particular, the use of autonomous and semi-autonomous vehicles to execute the tasks of an inspection process can enhance the efficacy and safety of the operation; however, many technical problems, such as those pertaining to the precise positioning and path following of the vehicles, robust obstacle detection, and intelligent control, must be addressed. In this study, an innovative architecture involving an unmanned aircraft vehicle (UAV) and an unmanned ground vehicle (UGV) was examined for detailed inspections of power lines. In the proposed strategy, each vehicle provides its position information to the other, which ensures a safe inspection process. The results of real-world experiments indicate a satisfactory performance, thereby demonstrating the feasibility of the proposed approach.
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44

Ali, Zain Anwar, and Xinde Li. "Modeling and controlling of quadrotor aerial vehicle equipped with a gripper." Measurement and Control 52, no. 5-6 (April 16, 2019): 577–87. http://dx.doi.org/10.1177/0020294019834040.

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Arm mounted unmanned aerial vehicles provide more feasible and attractive solution to manipulate objects in remote areas where access to arm mounted ground vehicles is not possible. In this research, an under-actuated quadrotor unmanned aerial vehicle model equipped with gripper is utilized to grab objects from inaccessible locations. A dual control structure is proposed for controlling and stabilization of the moving unmanned aerial vehicle along with the motions of the gripper. The control structure consists of model reference adaptive control augmented with an optimal baseline controller. Although model reference adaptive control deals with the uncertainties as well as attitude controlling of unmanned aerial vehicle, baseline controller is utilized to control the gripper, remove unwanted constant errors and disturbances during arm movement. The proposed control structure is applied in 6-degree-of-freedom nonlinear model of a quadrotor unmanned aerial vehicle equipped with gripper having (2 degrees of freedom) robotic limb; it is applicable for the simulations to desired path of unmanned aerial vehicle and to grasp object. Moreover, the efficiency of the presented control structure is compared with optimal baseline controller. It is observed that the proposed control algorithm has good transient behavior, better robustness in the presence of continuous uncertainties and gripper movement involved in the model of unmanned aerial vehicle.
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45

Oh, Hyondong, Seungkeun Kim, Hyo-Sang Shin, Antonios Tsourdos, and Brian A. White. "Behaviour recognition of ground vehicle using airborne monitoring of unmanned aerial vehicles." International Journal of Systems Science 45, no. 12 (March 4, 2013): 2499–514. http://dx.doi.org/10.1080/00207721.2013.772677.

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46

Xu, Fengtong, Tao Hong, Jingcheng Zhao, and Tao Yang. "Detection and identification technology of rotor unmanned aerial vehicles in 5G scene." International Journal of Distributed Sensor Networks 15, no. 6 (June 2019): 155014771985399. http://dx.doi.org/10.1177/1550147719853990.

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In the 5G era, integration between different networks is required to realize a new world of Internet of things, the most typical model is Space–Air–Ground Internet of things. In the Space–Air–Ground Internet of things, unmanned aerial vehicle network is widely used as the representative of air-based networks. Therefore, a lot of unmanned aerial vehicle “black flying” incidents have occurred. UAVs are a kind of “low, slow and small” artificial targets, which face enormous challenges in detecting, identifying, and managing them. In order to identify the “black flying” unmanned aerial vehicle, combined with the advantages of 5G millimeter wave radar and machine learning methods, the following methods are adopted in this article. For a one-rotor unmanned aerial vehicle, the radar echo data are a single-component sinusoidal frequency modulation signal. The echo signal is conjugated first and then is subjected to a short-time Fourier transform, while the micro-Doppler has a double effect. For a multi-rotor unmanned aerial vehicle, the radar echo data are a multi-component sinusoidal frequency modulation signal, the k-order Bessel function base and the signal are used for integral projection processing, which better identifies the micro-Doppler characteristics such as the number of rotors or the rotational speed of each rotor. The noise interference is added to verify that the algorithm has better robustness. The micro-Doppler characteristics of rotor unmanned aerial vehicles are extracted by the above algorithm, and the data sets are built to train the model. Finally, the classification of unmanned aerial vehicle is realized, and the classification results are given. The research in this article provides an effective solution to solve the problem of detecting and identifying unmanned aerial vehicle by 5G millimeter wave radar in the Internet of Things, which has high practical application value.
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Prajwal Shenoy, T., K. Praveen Shenoy, Lukhman Khan, Sabdar Aziz, Sayed Afran, and Kamlesh Kumar. "Design and development of a novel triphibian quadcopter." International Journal of Engineering & Technology 7, no. 2.21 (April 20, 2018): 1. http://dx.doi.org/10.14419/ijet.v7i2.21.11822.

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Multimodal Vehicles can travel in at least two distinctive modes of transportation, be it air and water, land and water or air and land. In this paper, design and development of a novel unmanned multimodal vehicle is presented that can travel in air, land and water, also called a as a triphibian quadcopter which would prove beneficial in rescue operations and operations involving hazardous environments. The vehicle is essentially a mix of unmanned aerial vehicle, unmanned ground vehicle and unmanned surface vehicle and is equipped with mechanisms to travel in land, air and water at the will of the operator. The entire framework of the vehicle is built on the multi rotor configuration. Flight tests were conducted to validate the design.
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48

Schenkel, Jared, Paul Taele, Daniel Goldberg, Jennifer Horney, and Tracy Hammond. "Identifying Potential Mosquito Breeding Grounds: Assessing the Efficiency of UAV Technology in Public Health." Robotics 9, no. 4 (November 11, 2020): 91. http://dx.doi.org/10.3390/robotics9040091.

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Human ecology has played an essential role in the spread of mosquito-borne diseases. With standing water as a significant factor contributing to mosquito breeding, artificial containers disposed of as trash—which are capable of holding standing water—provide suitable environments for mosquito larvae to develop. The development of these larvae further contributes to the possibility for local transmission of mosquito-borne diseases in urban areas such as Zika virus. One potential solution to address this issue involves leveraging unmanned aerial vehicles that are already systematically becoming more utilized in the field of geospatial technology. With higher pixel resolution in comparison to satellite imagery, as well as having the ability to update spatial data more frequently, we are interested in investigating the feasibility of unmanned aerial vehicles as a potential technology for efficiently mapping potential breeding grounds. Therefore, we conducted a comparative study that evaluated the performance of an unmanned aerial vehicle for identifying artificial containers to that of conventionally utilized GPS receivers. The study was designed to better inform researchers on the current viability of such devices for locating a potential factor (i.e., small form factor artificial containers that can host mosquito breeding grounds) in the local transmission of mosquito-borne diseases. By assessing the performance of an unmanned aerial vehicle against ground-truth global position system technology, we can determine the effectiveness of unmanned aerial vehicles on this problem through our selected metrics of: timeliness, sensitivity, and specificity. For the study, we investigated these effectiveness metrics between the two technologies of interest in surveying a study area: unmanned aerial vehicles (i.e., DJI Phantom 3 Standard) and global position system-based receivers (i.e., Garmin GPSMAP 76Cx and the Garmin GPSMAP 78). We first conducted a design study with nine external participants, who collected 678 waypoint data and 214 aerial images from commercial GPS receivers and UAV, respectively. The participants then processed these data with professional mapping software for visually identifying and spatially marking artificial containers between the aerial imagery and the ground truth GPS data, respectively. From applying statistical methods (i.e., two-tailed, paired t-test) on the participants’ data for comparing how the two technologies performed against each other, our data analysis revealed that the GPS method performed better than the UAV method for the study task of identifying the target small form factor artificial containers.
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Sell, Raivo, and Priit Leomar. "Universal Navigation Algorithm Planning Platform for Unmanned Systems." Solid State Phenomena 164 (June 2010): 405–10. http://dx.doi.org/10.4028/www.scientific.net/ssp.164.405.

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The paper deals with route planning and message exchange platform development for unmanned vehicle systems like Unmanned Ground Vehicle (UGV) and Unmanned Aerial Vehicle (UAV). Existing solutions for both types of vehicles are discussed and analyzed. Based on existing solution an unified concept is introduced. In this paper we present the study where the universal navigation algorithm planning platform is developed aiming to provide common platform for different unmanned mobile robotic systems. The platform is independent from the application and the target software. The navigation and action planning activity is brought to the abstract layer and specific interfaces are used to produce the target oriented code, describing two different test platforms are presented and co-operation scenarios.
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Akopov, A. S., N. K. Khachatryan, L. A. Beklaryan, and A. L. Beklaryan. "UNMANNED VEHICLE CONTROL SYSTEM BASED ON FUZZY CLUSTERING. PART 1. VEHICLE MOVEMENT MODEL." Vestnik komp'iuternykh i informatsionnykh tekhnologii, no. 195 (September 2020): 3–12. http://dx.doi.org/10.14489/vkit.2020.09.pp.003-012.

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A control system for ground unmanned vehicles is presented, using fuzzy clustering methods for making decisions at an individual level. A new approach to the management of ground unmanned vehicles has been developed, taking into account the state of vehicles in a dense traffic, in particular, the presence of road accidents, the appearance of traffic congestion (high density clusters), etc. An important advantage of this approach is the description of the rules for the interaction of various agents with each other and the external environment within the framework of the final decision-making system of individual agents without the need for a complex computational procedure for identifying the potentials of various forces of the system as a whole. In particular, such rules can be described using systems of differential equations with a variable structure, taking into account all the variety of possible interactions and collisions (potential collisions) between different (moving or stationary) objects. A key feature of the proposed model is the use of the concept of the radius of the agent’s personal space, which explains the effects of turbulence and crush. In this case, the radius of the agent’s personal space is a function of the density of vehicles. As a result, a model of unmanned vehicle movement is developed.
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