A cloud-based framework for risk-aware intelligent navigation in urban environments

Primatesta, Stefano; Capello, Elisa; Antonini, Roberto; Gaspardone, Marco; Guglieri, Giorgio; Rizzo, Alessandro

doi:10.1109/icuas.2017.7991358

Cited by 17 publications

(3 citation statements)

References 44 publications

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“…In addition, Feng et al provided a more in-depth study of the UAV air route by using a series of key technologies, such as extracting the digital terrain from a LiDAR-based system [72]; further, the automatic construction of air corridor based on laser point cloud data was performed and visualized [73], and a low-altitude airspace warning map [74] and a management platform [75] were generated. Primatesta et al focused on calculating the population risk [76], planning population-risk-based flight path [77], and constructing a real-time risk-aware system based on multi-risk layers [78].…”

Section: A Theoretical System Of the Low-altitude Air Routesmentioning

confidence: 99%

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

et al. 2020

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With the rapid expansion in the number of Unmanned Aircraft Vehicles (UAVs) available and the development of modern technologies, the commercial applications of UAVs in urban areas, such as urban remote sensing (RS), express services, urban road traffic monitoring, urban police security, urban air shows and so on, have increased greatly. However, most UAVs, especially light and small civil UAVs, have been operating in low-altitude airspace, and a conflict may exist between increasing the number of UAVs and the limited low airspace. To promote low-altitude airspace resource development and to standardize the operation and management of UAVs in urban regions, some global laws and regulations and key technologies for urban low-altitude applications of UAVs have been implemented. This paper reviews the development of current policies and key technologies concerning safe and efficient operations of the light-and-small civil UAVs in low altitude in urban areas. Discussions are made progressively on measures and methods of airspace restriction, airspace structuring and air route planning in China primarily and the rest of world. After surveying the practical industry tests and the initial studies of air routes, the survey results indicate that the construction of air route networks is a scientific and effective measure to standardize and improve the efficiency of low-altitude UAV operations. From the view point of safety and efficiency, the most valuable direction for UAV regulation in urban regions involves deepening the research which largely relies on urban RS and Geographic Information System (GIS) technology, and application demonstrations of low-altitude public air route networks. INDEX TERMS Low-altitude airspace, RS and GIS for UAV regulation, UAV regulation technology and policy, Urban region, UAV low-altitude air routes.

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Section: A Theoretical System Of the Low-altitude Air Routesmentioning

confidence: 99%

Recent Research Progress of Unmanned Aerial Vehicle Regulation Policies and Technologies in Urban Low Altitude

et al. 2020

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“…In [29], the authors represented a multi-layer architecture for intelligent navigation of Remotely Piloted Aircraft Systems (RPAS) in urban environments. In the path planning layer, the planner computes an optimal way point-based path, then the on-line planner continuously updates the offline path.…”

Section: Related Workmentioning

confidence: 99%

Communication-Aware UAV Path Planning

2019

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Autonomous air drones, known as unmanned aerial vehicles (UAVs), often accomplish missions with real-time video streaming leveraging the available cellular network. Video streaming is a typical application with stringent quality of service (QoS) requirements, which are not always supported in the whole mission area. In this paper, we address the offline path planning problem of finding the optimal path from a source to a destination in 2-D space in order to maximize the communication quality, given a cellular coverage, and thus providing throughput guarantees to the video streaming. In addressing the problem, the restricted amount of available energy, the wind effect, and the path post-smoothing problem are considered. We propose two innovative path planning algorithms and we show that our algorithms outperform classical approaches that are oblivious of communication network coverage. Both algorithms are variants of classical A * algorithm and they optimize the path jointly in terms of distance and of the experienced throughput by the drone: in this way, the quality of the video streaming along the path is optimized while preserving the energy budget for the flight. We describe both of the algorithms and investigate their performance. Moreover, we introduce a novel path smoothing method that outperforms classing approaches in terms of distance and computation cost. Finally, in order to prove that our algorithms can be practically utilized in the real-world path planners, we integrate our proposed path planning algorithms into the popular QGroundControl (QGC) control station. INDEX TERMS Unmanned aerial vehicles (UAVs), autonomous navigation, path planning algorithms.

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“…However, one of the biggest challenges, when working with risk maps, is how to generate the risk and what to consider as a risk. In many realistic application scenarios, a type of risk that can be considered is the consequences if a crash or failure occurs (Hu, Pang, Dai, & Low, 2020;Primatesta et al, 2017), and then minimizing the consequences of a crash. An alternative method is to utilize offline and online risk maps to plan crash-safe paths as in da Silva Arantes, Toledo, Williams, and Ono (2019) and Primatesta, Guglieri, and Rizzo (2019), while this approach is considering a 2D risk map in open areas to plan their paths.…”

Section: Introductionmentioning

confidence: 99%