The Experts below are selected from a list of 360 Experts worldwide ranked by ideXlab platform
Abdelkader Abdessameud - One of the best experts on this subject based on the ideXlab platform.
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image based tracking control of vtol Unmanned Aerial Vehicles
Automatica, 2015Co-Authors: Abdelkader Abdessameud, Farrokh JanabisharifiAbstract:This paper addresses the image-based control problem of vertical take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Specifically, we propose a control scheme allowing the aircraft to track a moving target captured by an onboard camera where the orientation and angular velocity of the vehicle are assumed available for feedback. The proposed approach relies on appropriate image features, defined based on perspective image moments along with a useful projection, and the design of a bounded adaptive translational controller without linear velocity measurements in the presence of external disturbances. Estimates of the target's acceleration and the disturbances as well as some auxiliary variables are used to simplify the control design and guarantee the stability of the overall closed loop system. Simulation examples are provided to show the effectiveness of the proposed theoretical results.
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formation control of vtol Unmanned Aerial Vehicles with communication delays
Automatica, 2011Co-Authors: Abdelkader Abdessameud, Abdelhamid TayebiAbstract:The formation control problem of a team of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) with communication delays is addressed. Based on the extraction algorithm presented in Abdessameud and Tayebi (2010a), we propose a new design methodology that simplifies the design of formation control laws with delayed communication for this class of under-actuated systems. Three control schemes are presented that provide delay-dependent and delay-independent results with constant and time-varying communication delays. The stability of the overall closed loop system in each scheme is established using Lyapunov-Krasovskii functionals. The proposed design methodology achieves global results in terms of the position and removes the requirement of the linear-velocity measurements. Simulation results are provided to show the effectiveness of the proposed control schemes.
Teng Joon Lim - One of the best experts on this subject based on the ideXlab platform.
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wireless communications with Unmanned Aerial Vehicles opportunities and challenges
IEEE Communications Magazine, 2016Co-Authors: Yong Zeng, Rui Zhang, Teng Joon LimAbstract:Wireless communication systems that include Unmanned Aerial Vehicles promise to provide cost-effective wireless connectivity for devices without infrastructure coverage. Compared to terrestrial communications or those based on high-altitude platforms, on-demand wireless systems with low-altitude UAVs are in general faster to deploy, more flexibly reconfigured, and likely to have better communication channels due to the presence of short-range line-of-sight links. However, the utilization of highly mobile and energy-constrained UAVs for wireless communications also introduces many new challenges. In this article, we provide an overview of UAV-aided wireless communications, by introducing the basic networking architecture and main channel characteristics, highlighting the key design considerations as well as the new opportunities to be exploited.
Farrokh Janabisharifi - One of the best experts on this subject based on the ideXlab platform.
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image based tracking control of vtol Unmanned Aerial Vehicles
Automatica, 2015Co-Authors: Abdelkader Abdessameud, Farrokh JanabisharifiAbstract:This paper addresses the image-based control problem of vertical take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Specifically, we propose a control scheme allowing the aircraft to track a moving target captured by an onboard camera where the orientation and angular velocity of the vehicle are assumed available for feedback. The proposed approach relies on appropriate image features, defined based on perspective image moments along with a useful projection, and the design of a bounded adaptive translational controller without linear velocity measurements in the presence of external disturbances. Estimates of the target's acceleration and the disturbances as well as some auxiliary variables are used to simplify the control design and guarantee the stability of the overall closed loop system. Simulation examples are provided to show the effectiveness of the proposed theoretical results.
Aiko Pras - One of the best experts on this subject based on the ideXlab platform.
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exploring security vulnerabilities of Unmanned Aerial Vehicles
Network Operations and Management Symposium, 2016Co-Authors: Nils Rodday, Ricardo De Oliveira Schmidt, Aiko PrasAbstract:We are currently observing a significant increase in the popularity of Unmanned Aerial Vehicles (UAVs), popularly also known by their generic term drones. This is not only the case for recreational UAVs, that one can acquire for a few hundred dollars, but also for more sophisticated ones, namely professional UAVs, whereby the cost can reach several thousands of dollars. These professional UAVs are known to be largely employed in sensitive missions such as monitoring of critical infrastructures and operations by the police force. Given these applications, and in contrast to what we have been seeing for the case of recreational UAVs, one might assume that professional UAVs are strongly resilient to security threats. In this demo we prove such an assumption wrong by presenting the security gaps of a professional UAV, which is used for critical operations by police forces around the world. We demonstrate how one can exploit the identified security vulnerabilities, perform a Man-in-the-Middle attack, and inject control commands to interact with the compromised UAV. In addition, we discuss appropriate countermeasures to help improving the security and resilience of professional UAVs.
Yong Zeng - One of the best experts on this subject based on the ideXlab platform.
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wireless communications with Unmanned Aerial Vehicles opportunities and challenges
IEEE Communications Magazine, 2016Co-Authors: Yong Zeng, Rui Zhang, Teng Joon LimAbstract:Wireless communication systems that include Unmanned Aerial Vehicles promise to provide cost-effective wireless connectivity for devices without infrastructure coverage. Compared to terrestrial communications or those based on high-altitude platforms, on-demand wireless systems with low-altitude UAVs are in general faster to deploy, more flexibly reconfigured, and likely to have better communication channels due to the presence of short-range line-of-sight links. However, the utilization of highly mobile and energy-constrained UAVs for wireless communications also introduces many new challenges. In this article, we provide an overview of UAV-aided wireless communications, by introducing the basic networking architecture and main channel characteristics, highlighting the key design considerations as well as the new opportunities to be exploited.