La Conférence AETOS
3e conférence AETOS "Research Challenges for Future RPAS/UAS Systems"
AETOS is organizing an International Workshop on Research Challenges for Future Remotely Piloted Aircraft Systems (RPAS) / Unmanned Aircraft Systems (UAS) for the first time in the US. This workshop is being organized in conjunction with the AUVSI's Conference on Unmanned Systems 2015 and in collaboration with the University of North Texas. It is the third in the series on UAS with applications to real world scenarios.
The conference focuses on UAS, supportive technologies, software environments and the associated key research issues. The aim is to bring together the research community and to provide an opportunity to share experiences and views on current trends and activities in the domain. In addition to regular papers, the workshop highlights student posters and demonstrations that showcase real-world applications of UAS.
2e conference AETOS "RESEARCH CHALLENGES FOR FUTURE RPAS/UAV SYSTEMS" - 9 & 10 septembre 2014
En parallèle du salon, se tiendra la 2e conférence internationale AETOS, avec la participation d’intervenants internationaux (Europe, Etats-Unis, Nouvelle Zélande…). Parmi les thématiques traitées cette année : l’optimisation de modèles mathématiques dans les domaines tels que le vol en formation, les essaims, l’autonomie des systèmes, l’insertion dans le trafic aérien, la résilience, la sécurité, ou encore les systèmes hybrides.
Qu’il s’agisse ou non d’UAS (la notion englobant à la fois RPAS et Systèmes Autonomes), il est évident que les drones feront partie de la boîte à outils de l'avenir pour les applications militaires et civiles. En visitant l'Exposition universelle de 1964, Isaac Asimov avait imaginé entrevu, 50 ans à l’avance de ce que serait l'Exposition de 2014 ! Ne reconnait-on pas aujourd’hui les systèmes sans pilotes dans les véhicules aux « cerveaux robots » qu’il décrit ?
Néanmoins, de nombreux problèmes techniques, juridiques et éthiques demeurent. L'objectif de cette 2e conférence AETOS est de les aborder. Elle se concentre sur les drones et les technologies support, des environnements logiciels et les questions clés de recherche associées. Un de ses objectifs est de rassembler la communauté et de donner l'occasion de partager les expériences, points de vue et tendances actuelles dans le domaine. Chaque année, de nouveaux sujets sont ajoutés au champ de la conférence ; cette année, il sera aussi question des applications et réels déploiements mondiaux.
- Preliminary Program (as of July 31, 2014)
- Retrouvez le bilan de la première édition (septembre 2012)
Retour sur la 1ère conference AETOS "Research challenges for future UAV systems" - 25 septembre 2012 - Conférence en langue anglaise
Le 25 septembre 2012, la 1ère conference AETOS "Research challenges for future UAV systems" a eu lieu à l’IMA (Bordeaux-Mérignac).
Elle était organisée par le Cluster Aetos et le GT UAV du CNRS, en partenariat avec le Conseil régional d’Aquitaine, Thales, l’IMS, le Labri, l’Université de Bordeaux, le GOR MACS et le GOR Robotics.
- Visual servoing model applied to aerial vehicles
Robert Mahony, Australian National University, Australia
- Robust aerial docking of a ducted fan
Lorenzo Marconi, University of Bologne, Italy
- A Smooth-turn Mobility Model for Airborne Networks
Kamesh Namuduri, Electrical Engineering, University of North Texas, USA
- Estimation and Control toward Autonomous Aerial Robot Systems
Nathan Michael, Robotics Institute, Carnegie Mellon University, USA
- Safe operation of UAS systems in risky operations
Anibal Ollero, University of Sevilla, Spain
- Towards a unified approach to the control of aerial vehicles
Claude Samson, INRIA Sophia Antipolis, France
- Coping with time delay in tele-manipulation of flying vehicles
Stefano Stramigioli, University of Twente, Netherlands
ABSTRACTS & BIOSKETCHES
Pr. Robert Mahony, Australian National University, Australia
Title: Image Based Visual Control of Aerial Robotic Vehicles
Abstract: Robert Mahony Affiliation: Research School of Engineering, Australian National University. Abstract: Vision systems provide a low-cost, light-weight and information rich sensing paradigm that offers significant potential for control of aerial robotic vehicles. Processing vision data to extract state and environment information requires significant computational power. Although recent results using visual SLAM and similar techniques are impressive, there will always be a place for low level visual control of aerial vehicles using simple visual cues that can be computed by embedded vision systems. In this talk I discuss several examples of image based visual control for aerial vehicles, including the use of optic flow for a range of terrain tracking, obstacle avoidance and landing manoeuvres, as well as using more classical image features for position and path control as well as formation control.
Biosketch: Robert Mahony is currently a Professor in the Department of Engineering at the Australian National University. He received a PhD in 1995 (systems engineering) and a BSc in 1989 (applied mathematics and geology) both from the Australian National University. He worked as a marine seismic geophysicist and an industrial research scientist before completing a postdoctoral fellowship in France and a Logan Fellowship at Monash University in Australia. He has held his post at ANU since 2001. His research interests are in non-linear control theory with applications in robotics, geometric optimisation techniques and systems theory.
Pr. Lorenzo Marconi, University of Bologne, Italy
Title: Robust aerial docking of a ducted fan
Abstract: This talk focuses on the modeling and control of an innovative configuration of aerial robot obtained by combining a ducted fan aerial vehicle and a robotic arm. The overall system, denoted as aerial manipulator, is able to accomplish operations requiring the physical interaction with the surrounding environment, like docking a vertical surface, while remaining airborne. After introducing a dynamical model of the system and of the environment, a control law based on the impedance control paradigm is presented. The talk also presents possible control paradigms based on switching rules obtained by modeling the aerial system and the surrounding environment as an hybrid automaton. Particular emphasis will be given to the robustness properties of the control solutions in presence of uncertainties in the environment and in the UAV dynamics. The effectiveness of the proposed control solutions are shown by presenting experimental results obtained within the European project AIRobots (www.airobots.eu).
Biosketch: Lorenzo Marconi graduated in 1995 in Electrical Engineering from the University of Bologna. Since 1995 he has been with the Department of Electronics, Computer Science and Systems at University of Bologna, where he obtained his Ph.D. degree in March 1998. From 1999 he has been an Assistant Professor in the same Department where is now Associate Professor since January 2005. He has held visiting positions at various academic/research international institutions. He is co-author of more than 150 technical publications on the subject of linear and nonlinear feedback design published on international journals, books and conference proceedings. In 2005, he received the ‘‘Outstanding Application Paper Award’’ from the International Federation of Automatic Control (IFAC) for a co-authored paper published on Automatica. He is member of the IEEE Control System Society, of the Control System Society Conference Editorial Board, of IEEE Technical Committee "Nonlinear Systems and Control", and of the IFAC Technical Committee on ‘‘Safety and Supervision in Technical Processes’’. He is the chair of the IFAC Technical Committee on ‘‘Nonlinear Control Systems’’. His current research interests include nonlinear control, output regulation, control of autonomous vehicles, fault detection and isolation, fault tolerant control.
Pr. Kamesh Namuduri, Electrical Engineering, University of North Texas, USA
Title: A Smooth-turn Mobility Model for Airborne Networks
Abstract: The design of effective routing protocols in airborne networks relies on suitable mobility models that capture the movement patterns of airborne vehicles. As airborne vehicles cannot make sharp turns as easily as ground vehicles do, the widely used mobility models developed for Mobile Ad Hoc Networks such as the Random Waypoint and the Random Direction will not be able to appropriately model the movement patterns of airborne vehicles.
In this talk, we introduce a novel mobility model, called the Smooth Turn mobility model that captures the correlation of acceleration of airborne vehicles across time and spatial coordinates. The proposed model is realistic in capturing the tendency of airborne vehicles towards making straight trajectories and smooth turns with large radii, and yet is tractable enough for connectivity analysis and routing protocol design. We first describe the mathematics of this model and then prove that the stationary node distribution of this mobility model is uniform. Moreover, due to the significance of degree of randomness in characterizing mobility pattern and routing protocol design, we introduce a metric to quantify the degree of randomness in mobility models, using entropy rate. Compared to the existing airborne network mobility models such as the flight plan-based model and the semi-random circular movement model, the proposed Smooth Turn mobility model has higher degree of randomness, but is less random than the Random Direction model because of the smooth-trajectory constraint that is unique to airborne vehicles. We conclude this talk with several possible variations to the basic Smooth Turn mobility model.
Biosketch: Kamesh Namuduri received his B.S. degree in Electronics and Communication Engineering from Osmania University, India, in 1984, M.S. degree in computer science from University of Hyderabad in 1986, and Ph.D. degree in computer science and engineering from University of South Florida in 1992. He worked in C-DoT, a Telecommunication firm in India from 1984 to 1986, where he participated in the development of the first indigenous digital exchange in India. He also worked in GTE Telecommunication Services Inc., USA, (now Verizon) from 1993-1997, where he participated in the development of a mobile telephone fraud detection system. From 1998 to 2002, he worked as a Research Scientist in the Center for Theoretical Studies of Physical Systems at Clark Atlanta University in Atlanta. From 2002 to 2008, he was a faculty member in the Department of Electrical Engineering and Computer Science at Wichita State University. Currently, he is with the Electrical Engineering Department at University of North Texas as an Associate Professor. His areas of research interest include information security, image/video processing and communications, and ad hoc sensor networks.
Dr. Nathan Michael, Robotics Institute, Carnegie Mellon University USA.
Title: Estimation and Control toward Autonomous Aerial Robot Systems
Abstract: The applicability of small-scale unmanned aerial vehicles to autonomous inspection, search and rescue, surveillance, and transport is driving rapid growth in the field of aerial robotics. Despite this growth, numerous research questions still exist when considering aerial robot systems in challenging environments at the fundamental levels of dynamics, estimation, and control and at the intersection of these research domains for single or multi-robot systems. In this talk, we discuss recent research with single and multiple aerial vehicles addressing these fundamental topic areas and building upon this work toward fully autonomous aerial systems able to operate in real-world domains. We will discuss topics on control toward aggressive maneuvers with quadrotors, state estimation and autonomous navigation in indoor and outdoor environments, and cooperative formation control and mapping. The talk will span the fundamental dynamics and control considerations required to achieve autonomous flight, continue with state and environment estimation and planning toward full autonomy, and close with a discussion on cooperative multi-robot control and mapping.
Biosketch: Nathan Michael recently joined the Robotics Institute at Carnegie Mellon University as an Assistant Research Professor. Prior to this appointment, he was a Research Assistant Professor in the Department of Mechanical Engineering at the University of Pennsylvania. He received a Ph.D. from the Department of Mechanical Engineering at the University of Pennsylvania in 2008 and transitioned to a position in the Research Faculty in 2010. His research interests include the topics of estimation and control for ground and aerial robots with extensions to multi-robot systems.
Pr. Anibal Ollero, University of Seville, Spain
Title: Safe operation of UAS systems in risky operations
Abstract: This presentation considers UAS operations involving risk due to environment dynamic interactions. First it considers the operation of a single UAS in critical operations such as the landing in mobile platforms or even the physical interactions with the environment of aerial robots in manipulation tasks. Then, it will address the cooperation of multiple UAVs in constrained spaces or involving the physical interactions between them, such as in joint load transportation. The presentation will include results of experiments in the indoor testbed of the Center for Advanced Aerospace Technologies and in outdoor flying tests.
Dr. Claude Samson, INRIA Sophia Antipolis, France
Title: Towards a unified approach to the control of aerial vehicles
Abtract: Mechanical design and control of flying machines have historically evolved in parallel. From the middle of last century to these days modern aircraft autopilots have developed on the basis of linearized motion equations and Linear Control Theory. For decades helicopters, whose flight control is more complex than that of airplanes, have been deprived of automatic control devices. It is only recently that the most sophisticated of them have been installed with a variety of devices (attitude retention systems, stability augmentation systems) that assist the human pilot. The development of Unmanned Aerial Devices (UAV) --or drones--, and in particular of Vertical Take-Off and Landing (VTOL) vehicles, has more recently motivated nonlinear control studies. However, most of these studies are based on simplified dynamic models that neglect aerodynamic forces, so that they are not best suited to the control of vehicles moving fast or subjected to strong wind variations. This talk aims at presenting the basic principles of a unified approach to the control of aerial vehicles, either manned or unmanned, with fixed or rotary wings, subjected to varying drag and lift aerodynamic forces.
Biosketch: Claude Samson graduated from the Ecole Supérieure d'Electricité in 1977, and received his Docteur-Ingénieur and Docteur d'Etat degrees from the University of Rennes, in 1980 and 1983, respectively. He joined INRIA in 1981, where he is presently Directeur de Recherche. His research interests are in control theory and its applications to the control of mechanical systems. Dr. Samson is the coauthor, with M. Leborgne and B. Espiau, of the book "Robot Control. The Task-Function Approach" (Oxford University Press, 1991).
Pr. Stefano Stramigioli, University of Twente, Netherlands
Title: Coping with time delay in tele-manipulation of flying vehicles
Abstract: It is well known in control that time delays have a destabilizing effect in a control loop. This is certainly the case when bilateral telemanipulation is implemented. Passivity is an effective tool in order to tackle the problem, but transparency together with the fact that a flying vehicle has pervasive dissipation create extra challenges to the problem. The presentation will introduce a methodology named "two layer approach" which presents a variable solution to the problem of telemanipulation of flying vehicles.