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Conte, Gianpaolo
Publications (10 of 21) Show all publications
Doherty, P., Kvarnström, J., Rudol, P., Wzorek, M., Conte, G., Berger, C., . . . Stastny, T. (2016). A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles. In: Baldoni, M., Chopra, A.K., Son, T.C., Hirayama, K., Torroni, P. (Ed.), PRIMA 2016: Principles and Practice of Multi-Agent Systems: . Paper presented at PRIMA 2016: Principles and Practice of Multi-Agent Systems (pp. 110-130). Springer Publishing Company
Open this publication in new window or tab >>A Collaborative Framework for 3D Mapping using Unmanned Aerial Vehicles
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2016 (English)In: PRIMA 2016: Principles and Practice of Multi-Agent Systems / [ed] Baldoni, M., Chopra, A.K., Son, T.C., Hirayama, K., Torroni, P., Springer Publishing Company, 2016, p. 110-130Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes an overview of a generic framework for collaboration among humans and multiple heterogeneous robotic systems based on the use of a formal characterization of delegation as a speech act. The system used contains a complex set of integrated software modules that include delegation managers for each platform, a task specification language for characterizing distributed tasks, a task planner, a multi-agent scan trajectory generation and region partitioning module, and a system infrastructure used to distributively instantiate any number of robotic systems and user interfaces in a collaborative team. The application focusses on 3D reconstruction in alpine environments intended to be used by alpine rescue teams. Two complex UAV systems used in the experiments are described. A fully autonomous collaborative mission executed in the Italian Alps using the framework is also described.

Place, publisher, year, edition, pages
Springer Publishing Company, 2016
Series
Lecture Notes in Computer Science, ISSN 0302-9743, E-ISSN 1611-3349 ; 9862
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-130558 (URN)10.1007/978-3-319-44832-9_7 (DOI)000388796200007 ()978-3-319-44831-2 (ISBN)
Conference
PRIMA 2016: Principles and Practice of Multi-Agent Systems
Funder
ELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsEU, FP7, Seventh Framework ProgrammeVINNOVASwedish Research Council
Note

Accepted for publication.

Available from: 2016-08-16 Created: 2016-08-16 Last updated: 2018-02-20
Conte, G., Rudol, P. & Doherty, P. (2014). Evaluation of a Light-weight Lidar and a Photogrammetric System for Unmanned Airborne Mapping Applications: [Bewertung eines Lidar-systems mit geringem Gewicht und eines photogrammetrischen Systems für Anwendungen auf einem UAV]. Photogrammetrie - Fernerkundung - Geoinformation (4), 287-298
Open this publication in new window or tab >>Evaluation of a Light-weight Lidar and a Photogrammetric System for Unmanned Airborne Mapping Applications: [Bewertung eines Lidar-systems mit geringem Gewicht und eines photogrammetrischen Systems für Anwendungen auf einem UAV]
2014 (English)In: Photogrammetrie - Fernerkundung - Geoinformation, ISSN 1432-8364, no 4, p. 287-298Article in journal (Refereed) Published
Abstract [en]

This paper presents a comparison of two light-weight and low-cost airborne mapping systems. One is based on a lidar technology and the other on a video camera. The airborne lidar system consists of a high-precision global navigation satellite system (GNSS) receiver, a microelectromechanical system (MEMS) inertial measurement unit, a magnetic compass and a low-cost lidar scanner. The vision system is based on a consumer grade video camera. A commercial photogrammetric software package is used to process the acquired images and generate a digital surface model. The two systems are described and compared in terms of hardware requirements and data processing. The systems are also tested and compared with respect to their application on board of an unmanned aerial vehicle (UAV). An evaluation of the accuracy of the two systems is presented. Additionally, the multi echo capability of the lidar sensor is evaluated in a test site covered with dense vegetation. The lidar and the camera systems were mounted and tested on-board an industrial unmanned helicopter with maximum take-off weight of around 100 kilograms. The presented results are based on real flight-test data.

Abstract [de]

Dieser Beitrag präsentiert einen Vergleich von zwei leichten und kostengünstigen luftgestützten Kartiersystemen. Eines der Systeme basiert auf Laserscanner-Technologie, während das andere eine Videokamera benutzt. Das luftgestützte Laserscannersystem besteht aus einem hochgenauen Empfänger für globale Navigationssatellitensysteme (GNSS), einer inertialen Messeinheit (IMU) auf Basis eines mikro-elektromechanischen Systems (MEMS), einem magnetischen Kompass und einem kostengünstigen Laserscanner. Das optische System basiert auf einer handelsüblichen Videokamera. Ein kommerzielles photogrammetrisches Softwarepaket wird verwendet, um die damit aufgenommenen Bilder zu prozessieren und digitale Oberflächenmodelle abzuleiten. Die beiden Systeme werden beschrieben und in Hinblick auf ihre Anforderungen an Hardware und Datenprozessierung verglichen. Außerdem werden sie in Hinblick auf ihre Eigenschaften bei der Verwendung auf unbemannten Flugkörpern (UAV) getestet und verglichen. Die Genauigkeit beider Systeme wird evaluiert. Zusätzlich wird die Fähigkeit des Laserscanner-Sensors in Hinblick auf Mehrfachechos in einem Testgebiet mit dichter Vegetation untersucht. Beide Systeme wurden auf einem unbemannten Industrie-Helikopter mit einem maximalen Startgewicht von ca. 100 kg montiert. Alle hier präsentierten Daten beruhen auf tatsächlich im Zuge von Testflügen aufgenommenen Daten.

Place, publisher, year, edition, pages
Stuttgart, Germany: E. Schweizerbart'sche Verlagsbuchhandlung, 2014
Keyword
UAS, lidar, sensor fusion, photogrammetry
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-109086 (URN)000340440700007 ()
Projects
SHERPACADICSELLIITNFFP6 KISACUAS
Funder
EU, FP7, Seventh Framework Programme, 600958Linnaeus research environment CADICSELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsSwedish Foundation for Strategic Research
Available from: 2014-08-06 Created: 2014-08-06 Last updated: 2018-01-11
Doherty, P., Kvarnström, J., Wzorek, M., Rudol, P., Heintz, F. & Conte, G. (2014). HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems. In: Kimon P. Valavanis, George J. Vachtsevanos (Ed.), Handbook of Unmanned Aerial Vehicles: (pp. 849-952). Dordrecht: Springer Science+Business Media B.V.
Open this publication in new window or tab >>HDRC3 - A Distributed Hybrid Deliberative/Reactive Architecture for Unmanned Aircraft Systems
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2014 (English)In: Handbook of Unmanned Aerial Vehicles / [ed] Kimon P. Valavanis, George J. Vachtsevanos, Dordrecht: Springer Science+Business Media B.V., 2014, p. 849-952Chapter in book (Other academic)
Abstract [en]

This chapter presents a distributed architecture for unmanned aircraft systems that provides full integration of both low autonomy and high autonomy. The architecture has been instantiated and used in a rotorbased aerial vehicle, but is not limited to use in particular aircraft systems. Various generic functionalities essential to the integration of both low autonomy and high autonomy in a single system are isolated and described. The architecture has also been extended for use with multi-platform systems. The chapter covers the full spectrum of functionalities required for operation in missions requiring high autonomy.  A control kernel is presented with diverse flight modes integrated with a navigation subsystem. Specific interfaces and languages are introduced which provide seamless transition between deliberative and reactive capability and reactive and control capability. Hierarchical Concurrent State Machines are introduced as a real-time mechanism for specifying and executing low-level reactive control. Task Specification Trees are introduced as both a declarative and procedural mechanism for specification of high-level tasks. Task planners and motion planners are described which are tightly integrated into the architecture. Generic middleware capability for specifying data and knowledge flow within the architecture based on a stream abstraction is also described. The use of temporal logic is prevalent and is used both as a specification language and as an integral part of an execution monitoring mechanism. Emphasis is placed on the robust integration and interaction between these diverse functionalities using a principled architectural framework.  The architecture has been empirically tested in several complex missions, some of which are described in the chapter.

Place, publisher, year, edition, pages
Dordrecht: Springer Science+Business Media B.V., 2014
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:liu:diva-113613 (URN)10.1007/978-90-481-9707-1_118 (DOI)978-90-481-9706-4 (ISBN)978-90-481-9707-1 (ISBN)
Funder
EU, FP7, Seventh Framework Programme, 600958Swedish Foundation for Strategic Research Linnaeus research environment CADICSeLLIIT - The Linköping‐Lund Initiative on IT and Mobile Communications
Available from: 2015-01-26 Created: 2015-01-26 Last updated: 2018-01-11
Tuna, G., Nefzi, B. & Conte, G. (2014). Unmanned aerial vehicle-aided communications system for disaster recovery. Journal of Network and Computer Applications, 41, 27-36
Open this publication in new window or tab >>Unmanned aerial vehicle-aided communications system for disaster recovery
2014 (English)In: Journal of Network and Computer Applications, ISSN 1084-8045, E-ISSN 1095-8592, Vol. 41, p. 27-36Article in journal (Refereed) Published
Abstract [en]

After natural disasters such as earthquakes, floods, hurricanes, tornados and fires, providing emergency management schemes which mainly rely on communications systems is essential for rescue operations. To establish an emergency communications system during unforeseen events such as natural disasters, we propose the use of a team of unmanned aerial vehicles (UAVs). The proposed system is a post-disaster solution and can be used whenever and wherever required. Each UAV in the team has an onboard computer which runs three main subsystems responsible for end-to-end communication, formation control and autonomous navigation. The onboard computer and the low-level controller of the UAV cooperate to accomplish the objective of providing local communications infrastructure. In this study, the subsystems running on each UAV are explained and evaluated by simulation studies and field tests using an autonomous helicopter. While the simulation studies address the efficiency of the end-to-end communication subsystem, the field tests evaluate the accuracy of the navigation subsystem. The results of the field tests and the simulation studies show that the proposed system can be successfully used in case of disasters to establish an emergency communications system.

Place, publisher, year, edition, pages
Elsevier, 2014
Keyword
Unmanned aerial vehicles; Communication systems; Aircraft navigation; Distributed control
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-100895 (URN)10.1016/j.jnca.2013.10.002 (DOI)000335629300003 ()
Projects
CADICSNFFP5CUAS
Funder
Linnaeus research environment CADICSSwedish Foundation for Strategic Research
Available from: 2013-11-14 Created: 2013-11-14 Last updated: 2017-12-06
Conte, G., Kleiner, A., Rudol, P., Korwel, K., Wzorek, M. & Doherty, P. (2013). Performance evaluation of a light weight multi-echo LIDAR for unmanned rotorcraft applications. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-1/W2: . Paper presented at Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g 2013), 4-6 September 2013, Rostock, Germany.
Open this publication in new window or tab >>Performance evaluation of a light weight multi-echo LIDAR for unmanned rotorcraft applications
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2013 (English)In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-1/W2, 2013Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents a light-weight and low-cost airborne terrain mapping system. The developed Airborne LiDAR Scanner (ALS) sys- tem consists of a high-precision GNSS receiver, an inertial measurement unit and a magnetic compass which are used to complement a LiDAR sensor in order to compute the terrain model. Evaluation of the accuracy of the generated 3D model is presented. Additionally, a comparison is provided between the terrain model generated from the developed ALS system and a model generated using a commer- cial photogrammetric software. Finally, the multi-echo capability of the used LiDAR sensor is evaluated in areas covered with dense vegetation. The ALS system and camera systems were mounted on-board an industrial unmanned helicopter of around 100 kilograms maximum take-off weight. Presented results are based on real flight-test data.

Series
International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, ISSN 2194-9034
National Category
Robotics
Identifiers
urn:nbn:se:liu:diva-95889 (URN)000358305000016 ()
Conference
Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g 2013), 4-6 September 2013, Rostock, Germany
Projects
Artificial Intelligence & Integrated Computer Systems
Funder
eLLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsEU, FP7, Seventh Framework ProgrammeLinnaeus research environment CADICS
Available from: 2013-08-07 Created: 2013-08-07 Last updated: 2016-08-22
Conte, G. & Doherty, P. (2011). A Visual Navigation System for UAS Based on Geo-referenced Imagery. In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVIII-1/C22Proceedings of the International Conference on Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland, September 14-16, 2011: . Paper presented at International Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g).
Open this publication in new window or tab >>A Visual Navigation System for UAS Based on Geo-referenced Imagery
2011 (English)In: International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVIII-1/C22Proceedings of the International Conference on Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland, September 14-16, 2011, 2011Conference paper, Published paper (Refereed)
Series
International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, ISSN 2194-9034
Keyword
UAS, Terrain-aided Navigation, Sensor Fusion, Visual Navigation, Inertial Sensors
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-75233 (URN)000358381300017 ()
Conference
International Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g)
Available from: 2012-02-22 Created: 2012-02-22 Last updated: 2016-08-22
Conte, G. (2009). Vision-Based Localization and Guidance for Unmanned Aerial Vehicles. (Doctoral dissertation). Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Vision-Based Localization and Guidance for Unmanned Aerial Vehicles
2009 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

The thesis has been developed as part of the requirements for a PhD degree at the Artificial Intelligence and Integrated Computer System division (AIICS) in the Department of Computer and Information Sciences at Linköping University.The work focuses on issues related to Unmanned Aerial Vehicle (UAV) navigation, in particular in the areas of guidance and vision-based autonomous flight in situations of short and long term GPS outage.The thesis is divided into two parts. The first part presents a helicopter simulator and a path following control mode developed and implemented on an experimental helicopter platform. The second part presents an approach to the problem of vision-based state estimation for autonomous aerial platforms which makes use of geo-referenced images for localization purposes. The problem of vision-based landing is also addressed with emphasis on fusion between inertial sensors and video camera using an artificial landing pad as reference pattern. In the last chapter, a solution to a vision-based ground object geo-location problem using a fixed-wing micro aerial vehicle platform is presented.The helicopter guidance and vision-based navigation methods developed in the thesis have been implemented and tested in real flight-tests using a Yamaha Rmax helicopter. Extensive experimental flight-test results are presented.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2009. p. 174
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1260
Keyword
Unmanned Aerial Vehicles, Guidance, Kalman filter, Vision-based Navigation, Geo-referenced Imagery, Autonomous Landing, Target Geo-location
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-17767 (URN)978-91-7393-603-3 (ISBN)
Public defence
2009-05-25, Alan Turing, E-building, Campus Valla, Linköpings universitet, Linköping, 13:00 (English)
Opponent
Supervisors
Projects
WITAS
Available from: 2009-05-04 Created: 2009-04-17 Last updated: 2018-01-13Bibliographically approved
Conte, G. & Doherty, P. (2009). Vision-Based Unmanned Aerial Vehicle Navigation Using Geo-Referenced Information. EURASIP Journal on Advances in Signal Processing, 2009(387308), 1-18
Open this publication in new window or tab >>Vision-Based Unmanned Aerial Vehicle Navigation Using Geo-Referenced Information
2009 (English)In: EURASIP Journal on Advances in Signal Processing, ISSN 1687-6172, Vol. 2009, no 387308, p. 1-18Article in journal (Refereed) Published
Abstract [en]

This paper investigates the possibility of augmenting an Unmanned Aerial Vehicle (UAV) navigation system with a passive video camera in order to cope with long-term GPS outages. The paper proposes a vision-based navigation architecture which combines inertial sensors, visual odometry, and registration of the on-board video to a geo-referenced aerial image. The vision-aided navigation system developed is capable of providing high-rate and drift-free state estimation for UAV autonomous navigation without the GPS system. Due to the use of image-to-map registration for absolute position calculation, drift-free position performance depends on the structural characteristics of the terrain. Experimental evaluation of the approach based on offline flight data is provided. In addition the architecture proposed has been implemented on-board an experimental UAV helicopter platform and tested during vision-based autonomous flights.

Place, publisher, year, edition, pages
Hindawi Publishing Corporation, 2009
National Category
Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-20341 (URN)10.1155/2009/387308 (DOI)
Available from: 2009-09-04 Created: 2009-09-04 Last updated: 2012-02-02
Conte, G. & Doherty, P. (2008). An Integrated UAV Navigation System Based on Aerial Image Matching. In: IEEE Aerospace Conference 2008,2008: . Paper presented at 2008 IEEE Aerospace Conference (pp. 3142-3151). IEEE
Open this publication in new window or tab >>An Integrated UAV Navigation System Based on Aerial Image Matching
2008 (English)In: IEEE Aerospace Conference 2008,2008, IEEE , 2008, p. 3142-3151Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this paper is to explore the possibility of using geo-referenced satellite or aerial images to augment an Unmanned Aerial Vehicle (UAV) navigation system in case of GPS failure. A vision based navigation system which combines inertial sensors, visual odometer and registration of a UAV on-board video to a given geo-referenced aerial image has been developed and tested on real flight-test data. The experimental results show that it is possible to extract useful position information from aerial imagery even when the UAV is flying at low altitude. It is shown that such information can be used in an automated way to compensate the drift of the UAV state estimation which occurs when only inertial sensors and visual odometer are used.

Place, publisher, year, edition, pages
IEEE, 2008
Series
IEEE Aerospace Conference, ISSN 1095-323X
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-44661 (URN)10.1109/AERO.2008.4526556 (DOI)77249 (Local ID)978-1-4244-1487-1 (ISBN)978-1-4244-1488-8 (ISBN)77249 (Archive number)77249 (OAI)
Conference
2008 IEEE Aerospace Conference
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2018-01-12
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
Open this publication in new window or tab >>High Accuracy Ground Target Geo-Location Using Autonomous Micro Aerial Vehicle Platforms
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2008 (English)In: Proceedings of the AIAA Guidance, Navigation, and Control Conference (GNC), AIAA , 2008Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
AIAA, 2008
National Category
Computer Sciences
Identifiers
urn:nbn:se:liu:diva-44657 (URN)77245 (Local ID)978-1-56347-945-8 (ISBN)77245 (Archive number)77245 (OAI)
Available from: 2009-10-10 Created: 2009-10-10 Last updated: 2018-01-12
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