#SPACECONTROL V3.0 AND LASER EZ PEEL PAPER VERIFICATION#
Our empirical results indicate that CP is able to provide better solutions than MILP, overall, and that the use of a fleet of MRVs can improve the accumulated reward of the UAV fleet, supporting their inclusion for surveillance tasks.Īssured Runtime Monitoring and Planning: Towards Verification of Neural Networks for Safe Autonomous Operations (I) The assessment investigates accumulated search reward compared to ideal and worst-case scenarios and briefly explores the impact of UAV speeds. We conduct a comprehensive simulation of our methods using real-world road network data from Scotland. The problem is then solved using mixed-integer linear programming (MILP) and constraint programming (CP).
We propose a pipeline for representing the problem on real-world road networks, starting with a map of the road network and yielding a final routing graph that permits UAVs to recharge via rendezvous with MRVs. Keywords: Aerial Systems: Applications, Surveillance Systems, Planning, Scheduling and CoordinationĪbstract: We study a range-constrained variant of the multi-UAV target search problem where commercially available UAVs are used for target search in tandem with ground-based mobile recharging vehicles (MRVs) that can travel, via the road network, to meet up with and recharge a UAV. Target Search on Road Networks with Range-Constrained UAVs and Ground-Based Mobile Recharging Vehicles We achieve a 19% increase in flight time using the batteries in two stages as compared to a single stage. The experimental flight times match well with those predicted from the analysis for our vehicle. This quadcopter can eject a battery stage after consumption in-flight using a custom-designed mechanism, and continue hovering using the next stage. Lastly, we validate the analysis with flight experiments on a custom two-stage battery-powered quadcopter.
Notably, we show that a multirotor powered by internal combustion has an upper limit on achievable flight time independent of the available fuel mass. We then derive results for a continuously staged case of an internal combustion engine driving propellers. We consider two specific problems in discrete staging - optimal order of staging given a certain number of energy sources, and optimal partitioning of a given energy storage mass budget into a given number of stages. energy storage mass analysis is presented to show the endurance benefit of staging to multirotors. consuming energy in stages and ejecting used stages, to progressively reduce the mass of aerial vehicles in-flight which reduces power consumption, and consequently increases flight time. We present the concept of staging energy sources, i.e. Keywords: Aerial Systems: Applications, Mechanism Design, Cellular and Modular RobotsĪbstract: Energy sources such as batteries do not decrease in mass after consumption, unlike combustion-based fuels. Open and Transdisciplinary Research Initiatives, Osaka University The Robot As Scientist: Using Mental Simulation to Test Causal Hypotheses Extracted from Human Activities in Virtual RealityĪward Session 4: Finalists for Best RoboCup Paper Mixed Reality As a Bidirectional Communication Interface for Human-Robot Interaction École Polytechnique Fédérale de Lausanne (EPFL) Keywords: Representation Learning, Probability and Statistical Methods, Cognitive Control ArchitecturesĮmergent Adaptive Gait Generation through Hebbian Sensor-Motor Maps by Morphological Probing
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