Attenuating subjective crowding through beauty: an online study on the interaction between environment aesthetics, typology and crowdedness

Mavros, Panos; Ngoi, Zi Liang; Kirk, Stephanie; Te, Anshu; Grübel, Jascha; Melgar, Leonel Aguilar; Guizzo, Agnieszka Olszewska; Makowski, Dominique

doi:10.31234/osf.io/ezybm

Cited by 1 publication

(1 citation statement)

References 128 publications

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“…The latter can support a large variety of autonomous robots and contains the communication interfaces and the simulation layer. MAVROS [33], a ROS wrapper of the Micro Air Vehicle Link (MAVLink) protocol [34], was used for the communication between the decision-making module, which is processed on the onboard computer, and the motion module from the PX4. This communication is performed via a high-speed UART interface.…”

Section: Operating Systems and Middlewarementioning

confidence: 99%

Framework for Autonomous UAV Navigation and Target Detection in Global-Navigation-Satellite-System-Denied and Visually Degraded Environments

Boiteau,

Vanegas,

Gonzalez

2024

Remote Sensing

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Autonomous Unmanned Aerial Vehicles (UAVs) have possible applications in wildlife monitoring, disaster monitoring, and emergency Search and Rescue (SAR). Autonomous capabilities such as waypoint flight modes and obstacle avoidance, as well as their ability to survey large areas, make UAVs the prime choice for these critical applications. However, autonomous UAVs usually rely on the Global Navigation Satellite System (GNSS) for navigation and normal visibility conditions to obtain observations and data on their surrounding environment. These two parameters are often lacking due to the challenging conditions in which these critical applications can take place, limiting the range of utilisation of autonomous UAVs. This paper presents a framework enabling a UAV to autonomously navigate and detect targets in GNSS-denied and visually degraded environments. The navigation and target detection problem is formulated as an autonomous Sequential Decision Problem (SDP) with uncertainty caused by the lack of the GNSS and low visibility. The SDP is modelled as a Partially Observable Markov Decision Process (POMDP) and tested using the Adaptive Belief Tree (ABT) algorithm. The framework is tested in simulations and real life using a navigation task based on a classic SAR operation in a cluttered indoor environment with different visibility conditions. The framework is composed of a small UAV with a weight of 5 kg, a thermal camera used for target detection, and an onboard computer running all the computationally intensive tasks. The results of this study show the robustness of the proposed framework to autonomously explore and detect targets using thermal imagery under different visibility conditions. Devising UAVs that are capable of navigating in challenging environments with degraded visibility can encourage authorities and public institutions to consider the use of autonomous remote platforms to locate stranded people in disaster scenarios.

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Section: Operating Systems and Middlewarementioning

confidence: 99%

Framework for Autonomous UAV Navigation and Target Detection in Global-Navigation-Satellite-System-Denied and Visually Degraded Environments

Boiteau,

Vanegas,

Gonzalez

2024

Remote Sensing

View full text Add to dashboard Cite

show abstract

Attenuating subjective crowding through beauty: an online study on the interaction between environment aesthetics, typology and crowdedness

Abstract: This paper reports on an online study to investigate the interaction between the environment typology, and crowdedness with aesthetic perceptions of the environment.

Cited by 1 publication

References 128 publications

Framework for Autonomous UAV Navigation and Target Detection in Global-Navigation-Satellite-System-Denied and Visually Degraded Environments

Framework for Autonomous UAV Navigation and Target Detection in Global-Navigation-Satellite-System-Denied and Visually Degraded Environments

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