On-line trajectory generation for autonomous unmanned vehicles in the presence of no-fly zones

Lellis, Ettore De; Morani, Gianfranco; Corraro, Federico; Vito, Vittorio Di

doi:10.1177/0954410011430173

Cited by 15 publications

(4 citation statements)

References 17 publications

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“…automatic acquiring weather data) and planning is done mostly on-ground (more and more often with the use of electronic flight bags) (Di Vito et al , 2009). In addition, further steps need to be implemented in terms of control systems evolution to allow more accurate route execution and automatic route planning (De Lellis et al , 2013). Information about air traffic is available onboard when properly equipped (e.g.…”

Section: Main Sectionsmentioning

confidence: 99%

Design advancements for an integrated mission management system for small air transport vehicles in the COAST project

Vito

Grzybowski

Rogalski

et al. 2022

AEAT

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Purpose This paper aims to describe the activities that are ongoing, in the Cost Optimized Avionics SysTem (COAST) project, to design an integrated mission management system (IIMS) to be used as support to the pilot and/or to act as a backup in case of pilot incapacitation onboard on small air transport (SAT) vehicles, under single-pilot operations. Design/methodology/approach The COAST project, funded by Clean Sky 2 programme, is developing enabling technologies for single-pilot operations in the European Aviation Safety Agency CS-23 category vehicles. Such technologies include specific tools that are designed as individual enablers for single-pilot operations and specifically address: the real-time support to pilot’s decision making in maintaining the vehicle self-separation (this technology is the tactical separation system [TSS]); the real-time support to pilot’s situational awareness about observed and forecasted weather conditions (this technology is the advanced weather awareness system [AWAS]); and the real-time management of emergency conditions due to pilot’s incapacitation under single-pilot operations (this technology is the flight reconfiguration system [FRS]). Based on the outcomes of the design activities of such individual tools, in the COAST project emerged the opportunity to proceed with the design of a further system, leveraging the individual tools and benefitting from their integration. Findings The IMMS design started in the year 2020 and the activities carried out up to mid-2021 allowed to define the concept of operations of the system, its high-level requirements (functional, interface and operational requirements) and the preliminary system architecture. Originality/value The IMMS contributes enabling the implementation of single-pilot operations in CS-23 category vehicles, thanks to the possibility to support, in normal operational conditions, the pilot’s decision-making and, in emergency conditions due to pilot’s incapacitation, the automatic flight management up to the safe destination.

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Section: Main Sectionsmentioning

confidence: 99%

Design advancements for an integrated mission management system for small air transport vehicles in the COAST project

Vito

Grzybowski

Rogalski

et al. 2022

AEAT

Self Cite

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“…[22] introduced a solution for tracking aggressive trajectories for obstacle avoidance. Agile flight for fixed-wing autonomous aircraft has also been studied, including autonomus navigation in [6] and [20], and collision avoidance as presented in [48] and [30].…”

Section: Introductionmentioning

confidence: 99%

Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller

Abaunza

Castillo

2020

IEEE Trans. Aerosp. Electron. Syst.

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This paper introduces a non-conventional approach for autonomous multi-rotor UAV deployment, in which a quadrotor is aggressively launched through the air with its motors turned off. A continuous quaternion attitude trajectory is proposed to safely recover the vehicle into hover mode. Then, an operator then could take the command or continue a desired mission in autonomous mode. The controller is a chattering-free sliding mode algorithm based on the geometrical properties of quaternions and axis-angle rotations. Lyapunov theory is used to analyze the system stability. The proposed methodology is validated in real world indoor and outdoor experiments.

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“…For unmanned aircraft, a loss of link in both line of sight and beyond line of sight communication is a potential incident. The ability to continue flight in these situations, at least for a short period of time, enhances their level of autonomy and safety [7]. The intrinsic complexity of anticipatory trajectory planning in uncertain dynamic environments calls for an automated solution.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Planning in Time-Varying Adverse Weather for Fixed-Wing Aircraft Using Robust Model Predictive Control

Mothes

2019

Aerospace

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The avoidance of adverse weather is an inevitable safety-relevant task in aviation. Automated avoidance can help to improve safety and reduce costs in manned and unmanned aviation. For this purpose, a straightforward trajectory planner for a single-source-single-target problem amidst moving obstacles is presented. The functional principle is explained and tested in several scenarios with time-varying polygonal obstacles based on thunderstorm nowcast. It is furthermore applicable to all kinds of nonholonomic planning problems amidst nonlinear moving obstacles, whose motion cannot be described analytically. The presented resolution-complete combinatorial planner uses deterministic state sampling to continuously provide globally near-time-optimal trajectories for the expected case. Inherent uncertainty in the prediction of dynamic environments is implicitly taken into account by a closed feedback loop of a model predictive controller and explicitly by bounded margins. Obstacles are anticipatory avoided while flying inside a mission area. The computed trajectories are time-monotone and meet the nonholonomic turning-flight constraint of fixed-wing aircraft and therefore do not require postprocessing. Furthermore, the planner is capable of considering a time-varying goal and automatically plan holding patterns.

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On-line trajectory generation for autonomous unmanned vehicles in the presence of no-fly zones

Cited by 15 publications

References 17 publications

Design advancements for an integrated mission management system for small air transport vehicles in the COAST project

Design advancements for an integrated mission management system for small air transport vehicles in the COAST project

Quadrotor Aggressive Deployment, Using a Quaternion-Based Spherical Chattering-Free Sliding-Mode Controller

Trajectory Planning in Time-Varying Adverse Weather for Fixed-Wing Aircraft Using Robust Model Predictive Control

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