MPC Strategies for Cooperative Guidance of Autonomous Vehicles


S. Bertrand, J. Marzat, H. Piet-Lahanier, A. Kahn, Y. Rochefort (Onera)

This paper presents a comprehensive framework for the cooperative guidance of a fleet of autonomous vehicles, relying on Model Predictive Control (MPC). Solutions are provided for many common problems in cooperative control, namely collision and obstacle avoidance, formation flying and area exploration. Cost functions of the MPC strategy are defined to ensure a safe collaboration between the vehicles for these missions. An efficient way to select the optimal cost with limited computation time is also provided.

Rotary Wing UAV pre-sizing : Past and Present Methodological Approaches at Onera


P.-M. Basset, A. Tremolet, T. Lefebvre (Onera)

Thanks to their Vertical Take-Off and Landing, hover and low speed capabilities rotorcraft have a wide variety of applications. A very wide range of rotorcraft concepts have been invented and creativity is still abundantly present, especially in the field of Rotary Wing Uninhabited Aerial Vehicles. First, some typical past studies requiring RWUAV pre-sizing will be described. They were pragmatically dealt with using the means available at that time.

3DSCAN: Online Ego-Localization and Environment Mapping for Micro Aerial Vehicles


M. Sanfourche, A. Plyer, A. Bernard-Brunel, G. Le Besnerais (Onera)

We present 3DSCAN (3D Scene Characterization for Autonomous Navigation), a software application for state estimation and environment modeling using lowcost 3D sensors, such as a stereorig and RGBD cameras. For state estimation, we describe an original keyframe-based stereoscopic visual odometry technique, which can run at more than 20Hz on a lightweight computer.

Nonlinear Feedback Control of VTOL UAVs


D.Pucci (Istituto Italiano di Tecnologia)
M.-D. Hua, P. Morin (CNRS, UMR 7222)
T. Hamel (I3S/UNSA)
C. Samson (I3S/UNSA, INRIA)

This paper addresses the nonlinear feedback control of Unmanned Aerial Vehicles (UAVs) with Vertical Take-Off and Landing (VTOL) capacities, such as multi-copters, ducted fans, helicopters, convertible UAVs, etc. First, dynamic models of these systems are recalled and discussed. Then, a nonlinear feedback control approach is presented. It applies to a large class of VTOL UAVs and aims at ensuring large stability domains and robustness with respect to unmodeled dynamics.

Control and Estimation Algorithms for the Stabilization of VTOL UAVs from Mono-Camera Measurements


H. de Plinval (Onera)
A. Eudes, P. Morin (Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie)

This paper concerns the control of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) based on exteroceptive measurements obtained from a mono-camera vision system. By assuming the existence of a locally planar structure in the field of view of the UAV’s videocamera, the so-called homography matrix can be used to represent the vehicle’s motion between two views of the structure.

Accelerometers on Quadrotors : What do they Really Measure?


P. Martin (Mines ParisTech)

A revisited quadrotor model is proposed, including the so-called rotor drag. It differs from the model usually considered, even at first order, and much better explains the role of accelerometer feedback in control algorithms. The theoretical derivation is supported by experimental data.

Long Endurance Autonomous Flight for Unmanned Aerial Vehicles


N. R. J. Lawrance (Australian Centre for Field Robotics, University of Sydney)
J. J. Acevedo (University of Sevilla)
J. J. Chung, J. L. Nguyen, D. Wilson, S. Sukkarieh (Australian Centre for Field Robotics, University of Sydney)

This paper presents a summary of research performed at the University of Sydney towards extending the flight duration of fixed-wing unmanned aerial vehicles. A historical context to extended flight is provided and particular attention is paid to research in autonomous soaring and aerial refueling. Autonomous soaring presents a unique set of challenges whereby an aircraft must autonomously identify sources of energy in the wind field and generate trajectories to exploit these conditions to collect energy.

Introduction to Nonlinear Attitude Estimation for Aerial Robotic Systems


M.-D. Hua, G. Ducard, T. Hamel (CRNS)
R. Mahony (ANU)

A robust and reliable attitude estimator is a key technology enabler for the development of autonomous aerial vehicles. This paper is an introduction to attitude estimation for aerial robotic systems. First, attitude definition and parameterizations are recalled and discussed.

Optic Flow-Based Control and Navigation of Mini Aerial Vehicles


I. Fantoni, G. Sanahuja (Université de Technologie de Compiegne)

This paper concerns recent work on the application of optic flow for control and navigation of small unmanned aerial vehicles. Bio-inspired strategies, such as the use of optic flow, have always motivated researchers in the control community. Recent methodologies for active and passive navigation of aerial vehicles using optic flow, such as obstacle detection or terrain following, are presented.

Towards Modular and Certified Avionics for UAV


F. Boniol, V. Wiels (Onera)

This paper proposes a review of the current state and forthcoming evolutions
for UAV avionics architecture and software. It provides an outlook of the specific technical issues arising in the design of embedded systems for UAV.