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Duranti, Simone
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Conte, G., Hempel, M., Rudol, P., Lundström, D., Duranti, S., Wzorek, M. & Doherty, P. (2008). High Accuracy Ground Target Geo-Location Using Autonomous Micro Aerial Vehicle Platforms. In: Proceedings of the AIAA Guidance, Navigation, and Control Conference (GNC). AIAA
Öppna denna publikation i ny flik eller fönster >>High Accuracy Ground Target Geo-Location Using Autonomous Micro Aerial Vehicle Platforms
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2008 (Engelska)Ingår i: Proceedings of the AIAA Guidance, Navigation, and Control Conference (GNC), AIAA , 2008Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper presents a method for high accuracy ground target localization using a Micro Aerial Vehicle (MAV) equipped with a video camera sensor. The proposed method is based on a satellite or aerial image registration technique. The target geo-location is calculated by registering the ground target image taken from an on-board video camera with a geo- referenced satellite image. This method does not require accurate knowledge of the aircraft position and attitude, therefore it is especially suitable for MAV platforms which do not have the capability to carry accurate sensors due to their limited payload weight and power resources.  The paper presents results of a ground target geo-location experiment based on an image registration technique. The platform used is a MAV prototype which won the 3rd US-European Micro Aerial Vehicle Competition (MAV07). In the experiment a ground object was localized with an accuracy of 2.3 meters from a ight altitude of 70 meters.

Ort, förlag, år, upplaga, sidor
AIAA, 2008
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
urn:nbn:se:liu:diva-44657 (URN)77245 (Lokalt ID)978-1-56347-945-8 (ISBN)77245 (Arkivnummer)77245 (OAI)
Tillgänglig från: 2009-10-10 Skapad: 2009-10-10 Senast uppdaterad: 2018-01-12
Duranti, S. & Conte, G. (2007). In-flight Identification of the Augmented Flight Dynamics of the Rmax Unmanned Helicopter. In: 17th IFAC Symposium on Automatic Control in Aerospace. Paper presented at 17th IFAC Symposium on Automatic Control in Aerospace. Toulouse, June 25-29, 2007.. International Federation of Automatic Control
Öppna denna publikation i ny flik eller fönster >>In-flight Identification of the Augmented Flight Dynamics of the Rmax Unmanned Helicopter
2007 (Engelska)Ingår i: 17th IFAC Symposium on Automatic Control in Aerospace, International Federation of Automatic Control , 2007Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Abstract [en]

The flight dynamics of the Yamaha RMAX unmanned helicopter has been investigated, and mapped into a six degrees of freedom mathematical model. The model has been obtained by a combined black-box system identification technique and a classic model-based parameter identification approach. In particular, the closed-loop behaviour of the built-in attitude control system has been studied, to support the decision whether to keep it as inner stabilization loop or to develop an own stability augmentation system. The flight test method and the test instrumentation are described in detail; some samples of the flight test data are compared to the model outputs as validation, and an overall assessment of the built-in stabilization system is supplied.

Ort, förlag, år, upplaga, sidor
International Federation of Automatic Control, 2007
Nyckelord
helicopter dynamics, closed-loop identification
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:liu:diva-75781 (URN)10.3182/20070625-5-FR-2916.00038 (DOI)
Konferens
17th IFAC Symposium on Automatic Control in Aerospace. Toulouse, June 25-29, 2007.
Tillgänglig från: 2012-03-10 Skapad: 2012-03-10 Senast uppdaterad: 2018-09-11
Duranti, S., Conte, G., Lundström, D., Rudol, P., Wzorek, M. & Doherty, P. (2007). LinkMAV, a prototype rotary wing micro aerial vehicle.. In: 17th IFAC Symposium on Automatic Control in Aerospace,2007. Oxford: Elsevier
Öppna denna publikation i ny flik eller fönster >>LinkMAV, a prototype rotary wing micro aerial vehicle.
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2007 (Engelska)Ingår i: 17th IFAC Symposium on Automatic Control in Aerospace,2007, Oxford: Elsevier , 2007Konferensbidrag, Publicerat paper (Refereegranskat)
Ort, förlag, år, upplaga, sidor
Oxford: Elsevier, 2007
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
urn:nbn:se:liu:diva-40894 (URN)54477 (Lokalt ID)54477 (Arkivnummer)54477 (OAI)
Tillgänglig från: 2009-10-10 Skapad: 2009-10-10 Senast uppdaterad: 2018-01-13
Merz, T., Duranti, S. & Conte, G. (2006). Autonomous landing of an unmanned helicopter based on vision and inertial sensing. In: Marcelo H. Ang and Oussama Khatib (Ed.), Proceedings of the 9th International Symposium on Experimental Robotics (pp. 343-352). Springer, 21
Öppna denna publikation i ny flik eller fönster >>Autonomous landing of an unmanned helicopter based on vision and inertial sensing
2006 (Engelska)Ingår i: Proceedings of the 9th International Symposium on Experimental Robotics / [ed] Marcelo H. Ang and Oussama Khatib, Springer , 2006, Vol. 21, s. 343-352Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

In this paper we propose an autonomous precision landing method for an unmanned helicopter based on an on-board visual navigation system consisting of a single pan-tilting camera, off-the-shelf computer hardware and inertial sensors. Compared to existing methods, the system doesn't depend on additional sensors (in particular not on GPS), offers a wide envelope of starting points for the autonomous approach, and is robust to different weather conditions. Helicopter position and attitude is estimated from images of a specially designed landing pad. We provide results from both simulations and flight tests, showing the performance of the vision system and the overall quality of the landing. © Springer-Verlag Berlin/Heidelberg 2006.

Ort, förlag, år, upplaga, sidor
Springer, 2006
Serie
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 21
Nationell ämneskategori
Teknik och teknologier
Identifikatorer
urn:nbn:se:liu:diva-50036 (URN)10.1007/11552246_33 (DOI)978-3-540-28816-9 (ISBN)
Tillgänglig från: 2009-10-11 Skapad: 2009-10-11 Senast uppdaterad: 2011-03-08Bibliografiskt granskad
Wzorek, M., Conte, G., Rudol, P., Merz, T., Duranti, S. & Doherty, P. (2006). From Motion Planning to Control - A Navigation Framework for an Autonomous Unmanned Aerial Vehicle. In: Proceedings of the 21st Bristol UAV Systems Conference (UAVS).
Öppna denna publikation i ny flik eller fönster >>From Motion Planning to Control - A Navigation Framework for an Autonomous Unmanned Aerial Vehicle
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2006 (Engelska)Ingår i: Proceedings of the 21st Bristol UAV Systems Conference (UAVS), 2006Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The use of Unmanned Aerial Vehicles (UAVs) which can operate autonomously in dynamic and complex operational environments is becoming increasingly more common. While the application domains in which they are currently used are still predominantly military in nature, in the future we can expect wide spread usage in thecivil and commercial sectors. In order to insert such vehicles into commercial airspace, it is inherently important that these vehicles can generate collision-free motion plans and also be able to modify such plans during theirexecution in order to deal with contingencies which arise during the course of operation. In this paper, wepresent a fully deployed autonomous unmanned aerial vehicle, based on a Yamaha RMAX helicopter, whichis capable of navigation in urban environments. We describe a motion planning framework which integrates two sample-based motion planning techniques, Probabilistic Roadmaps and Rapidly Exploring Random Treestogether with a path following controller that is used during path execution. Integrating deliberative services, suchas planners, seamlessly with control components in autonomous architectures is currently one of the major open problems in robotics research. We show how the integration between the motion planning framework and thecontrol kernel is done in our system.

Additionally, we incorporate a dynamic path reconfigurability scheme. It offers a surprisingly efficient method for dynamic replanning of a motion plan based on unforeseen contingencies which may arise during the execution of a plan. Those contingencies can be inserted via ground operator/UAV interaction to dynamically change UAV flight paths on the fly. The system has been verified through simulation and in actual flight. We present empirical results of the performance of the framework and the path following controller.

Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
urn:nbn:se:liu:diva-36792 (URN)32592 (Lokalt ID)32592 (Arkivnummer)32592 (OAI)
Tillgänglig från: 2009-10-10 Skapad: 2009-10-10 Senast uppdaterad: 2018-01-13Bibliografiskt granskad
Kleiner, A., Dornhege, C., Kümmerle, R., Ruhnke, M., Steder, B., Nebel, B., . . . Lundström, D. (2006). RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany). In: RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Robot League.
Öppna denna publikation i ny flik eller fönster >>RoboCupRescue - Robot League Team RescueRobots Freiburg (Germany)
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2006 (Engelska)Ingår i: RoboCup 2006 (CDROM Proceedings), Team Description Paper, Rescue Robot League, 2006Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper describes the approach of the RescueRobots Freiburg team, which is a team of students from the University of Freiburg that originates from the former CS Freiburg team (RoboCupSoccer) and the ResQ Freiburg team (RoboCupRescue Simulation). Furthermore we introduce linkMAV, a micro aerial vehicle platform. Our approach covers RFID-based SLAM and exploration, autonomous detection of relevant 3D structures, visual odometry, and autonomous victim identification. Furthermore, we introduce a custom made 3D Laser Range Finder (LRF) and a novel mechanism for the active distribution of RFID tags.

Nationell ämneskategori
Robotteknik och automation
Identifikatorer
urn:nbn:se:liu:diva-72558 (URN)
Anmärkning
(1st place in the autonomy competition)Tillgänglig från: 2011-11-28 Skapad: 2011-11-28 Senast uppdaterad: 2011-12-06
Conte, G., Duranti, S. & Merz, T. (2004). Dynamic 3D path following for an autonomous helicopter. In: Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV). Elsevier
Öppna denna publikation i ny flik eller fönster >>Dynamic 3D path following for an autonomous helicopter
2004 (Engelska)Ingår i: Proceedings of the 5th IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Elsevier , 2004Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

A hybrid control system for dynamic path following for an autonomous helicopter is described. The hierarchically structured system combines continuous control law execution with event-driven state machines. Trajectories are defined by a sequence of 3D path segments and velocity profiles, where each path segment is described as a parametric curve. The method can be used in combination with a path planner for flying collision-free in a known environment. Experimental flight test results are shown.

Ort, förlag, år, upplaga, sidor
Elsevier, 2004
Nationell ämneskategori
Datavetenskap (datalogi)
Identifikatorer
urn:nbn:se:liu:diva-22974 (URN)2345 (Lokalt ID)008-044237-4 (ISBN)2345 (Arkivnummer)2345 (OAI)
Tillgänglig från: 2009-10-07 Skapad: 2009-10-07 Senast uppdaterad: 2018-01-13Bibliografiskt granskad
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