• Title/Summary/Keyword: formation guidance law

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Monocular Vision-Based Guidance and Control for a Formation Flight

  • Cheon, Bong-kyu;Kim, Jeong-ho;Min, Chan-oh;Han, Dong-in;Cho, Kyeum-rae;Lee, Dae-woo;Seong, kie-jeong
    • International Journal of Aeronautical and Space Sciences
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    • v.16 no.4
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    • pp.581-589
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    • 2015
  • This paper describes a monocular vision-based formation flight technology using two fixed wing unmanned aerial vehicles. To measuring relative position and attitude of a leader aircraft, a monocular camera installed in the front of the follower aircraft captures an image of the leader, and position and attitude are measured from the image using the KLT feature point tracker and POSIT algorithm. To verify the feasibility of this vision processing algorithm, a field test was performed using two light sports aircraft, and our experimental results show that the proposed monocular vision-based measurement algorithm is feasible. Performance verification for the proposed formation flight technology was carried out using the X-Plane flight simulator. The formation flight simulation system consists of two PCs playing the role of leader and follower. When the leader flies by the command of user, the follower aircraft tracks the leader by designed guidance and a PI control law, and all the information about leader was measured using monocular vision. This simulation shows that guidance using relative attitude information tracks the leader aircraft better than not using attitude information. This simulation shows absolute average errors for the relative position as follows: X-axis: 2.88 m, Y-axis: 2.09 m, and Z-axis: 0.44 m.

A Formation Control of Swarm Unmanned Surface Vehicles Using Potential Field Considering Relative Velocity (상대속도를 고려한 포텐셜 필드 기반 군집 무인수상선의 대형 제어)

  • Seungdae Baek;Minseung Kim;Joohyun Woo
    • Journal of the Society of Naval Architects of Korea
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    • v.61 no.3
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    • pp.170-184
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    • 2024
  • With the advancement of autonomous navigation technology in maritime domain, there is an active research on swarming Unmanned Surface Vehicles (USVs) that can fulfill missions with low cost and high efficiency. In this study, we propose a formation control algorithm that maintains a certain shape when multiple unmanned surface vehicles operate in a swarm. In the case of swarming, individual USVs need to be able to accurately follow the target state and avoid collisions with obstacles or other vessels in the swarm. In order to generate guidance commands for swarm formation control, the potential field method has been a major focus of swarm control research, but the method using the potential field only uses the position information of obstacles or other ships, so it cannot effectively respond to moving targets and obstacles. In situations such as the formation change of a swarm of ships, the formation control is performed in a dense environment, so the position and velocity information of the target and nearby obstacles must be considered to effectively change the formation. In order to overcome these limitations, this paper applies a method that considers relative velocity to the potential field-based guidance law to improve target following and collision avoidance performance. Considering the relative velocity of the moving target, the potential field for nearby obstacles is newly defined by utilizing the concept of Velocity Obstacle (VO), and the effectiveness and efficiency of the proposed method is verified through swarm control simulation, and swarm control experiments using a small scaled unmanned surface vehicle platform.

A Study on the Quadcopters Formation Flight Guidance Law Design in Wireless Sensor Network (무선 센서 네트워크를 통한 쿼드콥터들의 편대 비행 기법 설계에 관한 연구)

  • Kim, Eui-hwan;Lee, Hak-soo;Ji, Seong-in;Oh, Young-jun;Lee, Kang-hwan
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2015.05a
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    • pp.101-104
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    • 2015
  • In this paper, a flight techniques many quadcopters which can be configured flexibly squadron according to the situation in wireless sensor networks is suggested. In previous studies, aircrafts fly only as part of a prescribed form and know the distance between the aircraft by sensor was able to maintain the fleet. Also, the problem occurs that between the aircraft distance is not constant. In this paper, proposes an algorithm that the context of the formation fly using the current position of the quadcopter through a virtual map is based on the relative coordinates without being affected by Indoor, outdoor and obstacles. Proposed algorithm is Leader-Follower Technique that the method of determinin the shape of the squadron to the down command to the sub-quadcopter using the wireless network by the main quadcopter to determine a given situation. As simulation result, the proposed algorithm was confirmed that formation flight efficient in sensing the all conditions as compared to the conventional method.

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Recent Developments in Law of International Electronic Information Transactions (국제전자정보거래(國際電子情報去來)에 관한 입법동향(立法動向))

  • Hur, Hai-Kwan
    • THE INTERNATIONAL COMMERCE & LAW REVIEW
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    • v.23
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    • pp.155-219
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    • 2004
  • This paper focuses on two recent legislative developments in electronic commerce: the "Uniform Computer Information Transactions Act" ("UCITA") of USA and the "preliminary draft convention on the use of data message in [international trade] [the context of international contracts]" ("preliminary draft Convention") of UNCITRAL. UCITA provides rules contracts for computer information transactions. UCITA supplies modified contract formation rules adapted to permit and to facilitate electronic contracting. UCITA also adjusts commonly recognized warranties as appropriate for computer information transactions; for example, to recognize the international context in connection with protection against infringement and misappropriation, and First Amendment considerations involved with informational content. Furthermore, UCITA adapts traditional rules as to what is acceptable performance to the context of computer information transactions, including providing rules for the protection of the parties concerning the electronic regulation of performance to clarify that the appropriate general rule is one of material breach with respect to cancellation (rather than so-called perfect tender). UCITA also supplies guidance in the case of certain specialized types of contracts, e.g., access contracts and for termination of contracts. While for the most part carrying over the familiar rules of Article 2 concerning breach when appropriate in the context of the tangible medium on which the information is fixed, but also adapting common law rules and rules from Article 2 on waiver, cure, assurance and anticipatory breach to the context of computer information transactions, UCITA provides a remedy structure somewhat modeled on that of Article 2 but adapted in significant respects to the different context of a computer information transaction. For example, UCITA contains very important limitations on the generally recognized common law right of self-help as applicable in the electronic context. The UNCITRAL's preliminary draft Convention applies to the use of data messages in connection with an existing or contemplated contract between parties whose places of business are in different States. Nothing in the Convention affects the application of any rule of law that may require the parties to disclose their identities, places of business or other information, or relieves a party from the legal consequences of making inaccurate or false statements in that regard. Likewise, nothing in the Convention requires a contract or any other communication, declaration, demand, notice or request that the parties are required to make or choose to make in connection with an existing or contemplated contract to be made or evidenced in any particular form. Under the Convention, a communication, declaration, demand, notice or request that the parties are required to make or choose to make in connection with an existing or contemplated contract, including an offer and the acceptance of an offer, is conveyed by means of data messages. Also, the Convention provides for use of automated information systems for contract formation: a contract formed by the interaction of an automated information system and a person, or by the interaction of automated information systems, shall not be denied on the sole ground that no person reviewed each of the individual actions carried out by such systems or the resulting agreement. Further, the Convention provides that, unless otherwise agreed by the parties, a contract concluded by a person that accesses an automated information system of another party has no legal effect and is not enforceable if the person made an error in a data message and (a) the automated information system did not provide the person with an opportunity to prevent or correct the error; (b) the person notifies the other party of the error as soon as practicable when the person making the error learns of it and indicates that he or she made an error in the data message; (c) The person takes reasonable steps, including steps that conform to the other party's instructions, to return the goods or services received, if any, as a result of the error or, if instructed to do so, to destroy such goods or services.

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