Switching between the formation flight tactic and the dynamic encirclement tactic for a team of Unmanned Aerial Vehicles (UAVs) is done using a decentralized approach. A team formed from N UAVs, accomplishes a line-of-breast formation then dynamic encirclement around a desired target. A high-level Linear Model Predictive Control (LMPC) policy is used to control the UAV team during the execution...

This paper presents a novel approach for localising a GPS (Global Positioning System)-denied Unmanned Aerial Vehicle (UAV) with the aid of a GPS-equipped UAV in three-dimensional space. The GPS-equipped UAV makes discrete-time broadcasts of its global coordinates. The GPS-denied UAV receives the broadcast and in doing so takes a direction of arrival (DOA) measurement towards the origin of the b...

This paper presents a new Pulse Width Modulation (PWM) controller for Unmanned Aerial Vehicle (UAV) precision sprayer for agriculture using a TL494 fixed-frequency pulse width modulator together with a data acquisition board and developed software. An UAV can be remotely controlled or flown autonomously by pre-programmed flight plans. The PWM controller was implemented through the guidance syst...

A low cost UAV for aerial photography is constructed and tested. The UAV transfers images as they are captured via 802.11g to a ground station. Photo-mosaics are immediately assembled using SIFT keypoints for automatic image registration.

An adaptive nonlinear robust controller for a novel highly maneuverable dual-ducted UAV is considered in this paper. The dynamics of the system is highly nonlinear and not originally in the control-affine form. At first the equations governing the dynamics of the system are extracted. Then a change of variables is proposed to transform the dynamic equations into the control-affine form. It is a...

A UAV navigation system relying on GPS is vulnerable to signal failure, making a drift free backup system necessary. We introduce a vision based geo-referencing system that uses pre-existing maps to reduce the long term drift. The system classi es an image according to its environmental content and thereafter matches it to an environmentally classi ed map over the operational area. This map mat...

This paper describes the design, development, and operation of a research Unmanned Aerial Vehicle (UAV) system that has been developed at the Georgia Institute of Technology, called the GTMax. This description will include the processes put in place to enable the system to be used for UAV-technology research, including effective flight testing. Research UAVs are characterized by the need for co...

With the increasing use of airspace and the wide application of unmanned aerial vehicles (UAV), the Sense And Avoid (SAA) problem has attracted more and more attention. This paper presents a solution for the SAA of UAV formation equipped with optical sensors. We introduce the stereo vision theory combined with the UAV formation to calculate the position of the targets. The tracking of target is...

This chapter presents an intuitive laser-based teleoperation scheme to enable the safe operation of a multirotor UAV by an untrained user in a cluttered environment using a haptic joystick. An obstacle avoidance strategy is designed and implemented to autonomously modify the position setpoint of the UAV if necessary. This scheme includes a novel force-feedback algorithm to enable the user to fe...

Assignment of critical missions to unmanned aerial vehicles (UAV) is bound to widen the grounds for adversarial intentions in the cyber domain, potentially ranging from disruption of command and control links to capture and use of airborne nodes for kinetic attacks. Ensuring the security of electronic and communications in multi-UAV systems is of paramount importance for their safe and reliable...