Unmanned Aerial Systems

Theoretical Foundation and Applications

1st Edition - January 21, 2021
Editors: Anis Koubaa, Ahmad Taher Azar
Language: English
Paperback ISBN:
9 7 8 - 0 - 1 2 - 8 2 0 2 7 6 - 0
eBook ISBN:
9 7 8 - 0 - 1 2 - 8 2 0 2 7 7 - 7

Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system an… Read more

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Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more.

This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners.

Cover image
Title page
Table of Contents
Copyright
Contributors
Preface
About the book
Objectives of the book
Organization of the book
Book features
Audience
Acknowledgments
Chapter 1: Evolutionary aerial robotics: the human way of learning
Abstract
Acknowledgements
1.1. Introduction
1.2. Nonlinear aerodynamic modeling of a multirotor aircraft
1.3. The architecture of the ETS learning system: a biomimetic identification and control system
1.4. Hardware configuration
1.5. ETS-based multi-input, multi-output data-driven modeling: nonlinear system identification
1.6. The evolutionary Takagi–Sugeno flight control system: a preliminary study
1.7. Conclusion
References
Chapter 2: Modeling and control of a quadrotor unmanned aerial vehicle using type-2 fuzzy systems
Abstract
2.1. Introduction
2.2. Overview of type-2 fuzzy logic systems
2.3. Several considerations on designing practical IT2 fuzzy systems
2.4. Quadcopter dynamics
2.5. Online fuzzy system identification
2.6. Interval type-2 fuzzy control
2.7. Discussion
2.8. Useful references for computing type-2 fuzzy systems
2.9. Conclusion
References
Chapter 3: Unmanned aerial systems: autonomy, cognition, and control
Abstract
3.1. Introduction
3.2. Control problems in single UAVs
3.3. Control problems in multi-UAVs
3.4. Navigation problems in single UAVs
3.5. Navigation problems in multi-UAVs
3.6. Cognition in UASs
3.7. Conclusion and directions for future work
3.8. Acknowledgments
References
Chapter 4: Path planning and task assignment for multiple UAVs in dynamic environments
Abstract
4.1. Introduction
4.2. Related work
4.3. Problem description
4.4. Methodology to solve the task assignment problem with path planning
4.5. Results and discussion
4.6. Conclusion
References
Chapter 5: Robust fractional-order sliding mode control design for UAVs subjected to atmospheric disturbances
Abstract
5.1. Introduction
5.2. Related work
5.3. Problem formulation
5.4. Disturbance rejection sliding mode controller design for the quadrotor
5.5. Numerical experiments
5.6. Discussion
5.7. Conclusion
References
Chapter 6: Disaster management using unmanned aerial vehicles
Abstract
Acknowledgement
6.1. Introduction
6.2. Role of UAVs in disaster management
6.3. Review of coverage algorithms
6.4. Sensing systems
6.5. Communication strategies
6.6. Hardware
6.7. Discussion
6.8. Conclusion and future directions
References
Chapter 7: UAV photogrammetry and 3D reconstruction: application in coastal monitoring
Abstract
7.1. Introduction
7.2. UAVs and the photogrammetric process
7.3. Accuracy
7.4. Volume (3D) change analyses
7.5. Review of some coastal applications
7.6. Case study: assessing beach volume dynamics along the coast of Ghana
7.7. Conclusion
References
Chapter 8: Clean audio recording using unmanned aerial vehicles
Abstract
8.1. Introduction
8.2. UAV propeller noise
8.3. Mounting position of microphones
8.4. Noise reduction of UAV recordings
8.5. Performance evaluation and discussion
8.6. Conclusion
References
Chapter 9: Fast terminal sliding mode controller for high speed and complex maneuvering of unmanned aerial vehicles
Abstract
9.1. Introduction
9.2. Related work
9.3. Problem formulation: position and attitude dynamics
9.4. Adaptive fast terminal sliding mode controller design
9.5. Numerical experiments
9.6. Discussion
9.7. Conclusion
References
Chapter 10: Multiobjective optimization design procedures for data-driven unmanned aerial vehicles automatic target recognition systems
Abstract
Acknowledgement
10.1. Introduction
10.2. Automatic target recognition
10.3. Multiobjective optimization design procedures
10.4. Unmanned aerial vehicles automatic target recognition
10.5. Experiments and results
10.6. Conclusions
References
Chapter 11: On the stabilization of 6-DOF UAV quadrotor system using modified active disturbance rejection control
Abstract
11.1. Introduction
11.2. UAV nonlinear mathematical model
11.3. Problem statement
11.4. IADRC design
11.5. Stability analysis
11.6. Simulations and results
11.7. Conclusion and future work
References
Chapter 12: Energy management system and strategy for a fuel cell/battery hybrid power
Abstract
12.1. Introduction of power trains for UAVs
12.2. The main architecture of power trains for UAVs
12.3. Energy management systems and strategies for hybrid-powered UAVs
12.4. Applied EMS to the fuel cell/battery UAV
12.5. Conclusion and future trend for power trains of UAVs
References
Chapter 13: A nonlinear PID controller design for 6-DOF unmanned aerial vehicles
Abstract
13.1. Introduction
13.2. Mathematical modeling of the 6-DOF UAV quadrotor
13.3. Problem statement
13.4. Main results
13.5. Simulation results and case studies
13.6. Conclusion and future work
References
Chapter 14: RISCuer: a reliable multi-UAV search and rescue testbed
Abstract
14.1. Introduction
14.2. Related work
14.3. Problem description
14.4. System architecture
14.5. State machine description
14.6. Object detection and localization
14.7. Aerial grasping and transport
14.8. Communication
14.9. Experiments and results
14.10. Conclusions and prospects
14.11. Supplementary material
References
Chapter 15: A novel sound source localization method using a global-best guided cuckoo search algorithm for drone-based search and rescue operations
Abstract
15.1. Introduction
15.2. Literature survey
15.3. Problem formulation
15.4. Proposed algorithm
15.5. Evaluation
15.6. Discussion
15.7. Conclusion
References
Chapter 16: Implementation of survivor detection strategies using drones
Abstract
16.1. Introduction
16.2. Modified weight-based exploration
16.3. Simulations
16.4. Implementation
16.5. Results
16.6. Conclusion and future work
16.7. Acknowledgments
References
Chapter 17: Professional drone mapping
Abstract
17.1. Introduction
17.2. Principal photogrammetry concepts
17.3. Photogrammetric processing workflow
17.4. Quality analysis
17.5. Conclusion
References
Chapter 18: The game of drones/weapons makers' war on drones
Abstract
18.1. Introduction
18.2. Illegal use of UAVs
18.3. Counterdrone technology between increasing market demand and restrictions
18.4. Counterdrone exciting solutions
18.5. Technology limitations
18.6. Study and realization of a laser prototype solution to destroy drones
18.7. Prototype result and discussion
18.8. Conclusion and outlook
References
Chapter 19: Sliding mode controller design for unmanned aerial vehicles with unmodeled polytopic dynamics
Abstract
19.1. Introduction
19.2. Related work
19.3. Problem formulation: position and attitude dynamics
19.4. Sliding mode controller design for UAVs with polytopic uncertainties
19.5. Numerical experiments
19.6. Discussion
19.7. Conclusion
References
Chapter 20: The use of smart flying platforms (SFPs) in national emergencies: terrorism or epidemics
Abstract
20.1. A general review about the origins of UAVs and their applications
20.2. How to evaluate quadcopter and smart flying platform efficiency in the case of a national emergency response?
20.3. Conclusion
References
Chapter 21: Event-driven programming-based path planning and navigation of UAVs around a complex urban environment
Abstract
21.1. Introduction
21.2. Literature review
21.3. Practical implementation of motion planning algorithms
21.4. Implementations in a real-world scenario
21.5. Conclusion
References
Chapter 22: UAV geofencing: navigation of UVAs in constrained environments
Abstract
Acknowledgements
22.1. Introduction
22.2. UAV geofencing
22.3. UAV modeling and control
22.4. UAV navigation in constrained environments
22.5. Conclusion
Appendix 22.A. Asymptotic stability of the outer loop
Appendix 22.B. Determination of T and qc
Appendix 22.C. Asymptotic stability of the inner loop
References
Chapter 23: An introduction to the MAR21, MAR25, MAR27, and MAR30 smart hydrones for floods and water cleaning missions
Abstract
23.1. An introduction to MAR21, MAR25, MAR27, and MAR30 smart hydrones
23.2. How to evaluate MAR21, MAR25, MAR27, and MAR30 smart hydrone missions according to surveillance, rescue, security, cleaning, searching, and logistic activities
23.3. Conclusion
References
Index

Anis Koubaa

Anis Koubaa is a Professor in Computer Science, Advisor to the Rector, and Leader of the Robotics and Internet of Things Research Lab, in Prince Sultan University. He is also R&D Consultant at Gaitech Robotics in China and Senior Researcher in CISTER/INESC TEC and ISEP-IPP, Porto, Portugal. He has been the Chair of the ACM Chapter in Saudi Arabia since 2014. He is also a Senior Fellow of the Higher Education Academy (HEA) in UK. He received several distinctions and awards including the Rector Research Award in 2010 at Al-Imam Mohamed bin Saud University, and the Rector Teaching Award in 2016 at Prince Sultan University. He is the Editor in Chief of the Robotics Software Engineering topic of the International Journal of Advanced Robotics Systems, Associate Editor in the Cyber-Physical Journal (Taylor & Francis). He is also the authors of six books with Springer on robots, sensor networks and Robot Operating Systems (ROS). He has been also actively participating in program committees of several international conferences including, ACM/IEEE International Conference on Cyber-Physical Systems, International Conference on Robotics Computing, European Conference on Wireless Sensor Networks, IEEE International Conference on Autonomous Robot Systems and Competitions, IEEE International Workshop on Factory Communication Systems. He is the author of more than 200 journal and conference publications, and one patent. He received several research grants as principal investigator, and he established research collaboration between Prince Sultan University and Gaitech Robotics for the development of robots and drones, and ROS.

Affiliations and expertise

Professor in Computer Science, Advisor to the Rector, and Leader of the Robotics and Internet of Things Research Lab, Prince Sultan University, Saudi Arabia

Ahmad Taher Azar

Ahmad Azar is a Research Associate Professor at the Prince Sultan University, Riyadh, Kingdom Saudi Arabia. He is also an associate professor at the Faculty of Computers and Artificial intelligence, in Benha University, Egypt. He is the Editor in Chief of the International Journal of System Dynamics Applications (IJSDA), International Journal of Service Science, Management, Engineering, and Technology (IJSSMET), and International Journal of Intelligent Engineering Informatics (IJIEI), among others. He is currently Associate Editor of ISA Transactions, Elsevier, and the IEEE systems journal. Dr. Azar works in the areas of control theory & applications, process control, chaos control and synchronization, nonlinear control, renewable energy, computational intelligence.

Affiliations and expertise

Research Associate Professor, Prince Sultan University, Riyadh, Kingdom Saudi ArabiaAssociate Professor, Faculty of Computers and Artificial intelligence, Benha University, Egypt

Life Sciences

Physical Sciences & Engineering

Social Sciences & Humanities

Health