Intelligent Autonomy of UAVs : Advanced Missions and Future Use

421 Pages·2018·3.55 MB·English

by  Bestaoui Sebbane

INTELLIGENT
AUTONOMY
OF UAVS
Advanced Missions
and Future Use
Chapman & Hall/CRC
Artificial Intelligence and Robotics Series
Series Editor: Roman V. Yampolskiy
The Virtual Mind
Designing the Logic to Approximate Human Thinking
Niklas Hageback
Artificial Intelligence, Second Edition
With an Introduction to Machine Learning
Richard E. Neapolitan and Xia Jiang
Intelligent Autonomy of UAVs
Advanced Missions and Future Use
Yasmina Bestaoui Sebbane
For more information about this series please visit:
https://www.crcpress.com/Chapman--HallCRC-Artificial-Intelligence-and-Robotics-Series/book-series/ARTILRO
INTELLIGENT
AUTONOMY
OF UAVS
Advanced Missions
and Future Use
Yasmina Bestaoui Sebbane
CRC Press
Taylor & Francis Group
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Boca Raton, FL 33487-2742
© 2018 by Taylor & Francis Group, LLC
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Version Date: 20180220
International Standard Book Number-13: 978-1-138-56849-5 (Hardback)
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Library of Congress Cataloging‑in‑Publication Data
Names: Bestaoui Sebbane, Yasmina, author.
Title: Intelligent Autonomy of UAVs : advanced missions and future use /
Yasmina Bestaoui Sebbane.
Description: First edition. | Boca Raton, FL : Taylor & Francis Group, 2018.
| Series: Chapman & Hall/CRC artificial intelligence and robotics ; no. 3
| “A CRC title, part of the Taylor & Francis imprint, a member of the
Taylor & Francis Group, the academic division of T&F Informa plc.” |
Includes bibliographical references and index.
Identifiers: LCCN 2017053553 | ISBN 9781138568495 (hardback : acid-free paper)
Subjects: LCSH: Drone aircraft. | Automatic pilot (Airplanes)
Classification: LCC TL685.35 .B47 2018 | DDC 629.133/39--dc23
LC record available at https://lccn.loc.gov/2017053553
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To my family.

Contents
Preface xiii
Chapter
1(cid:4) Introduction 1
1.1 INTRODUCTION 1
1.2 USEOFUNMANNEDAERIALSYSTEMS 2
1.2.1 Regulations 3
1.2.1.1 U.S. regulations 4
1.2.1.2 European regulations 6
1.2.1.3 U.K. regulations 8
1.2.2 Risk analysis 9
1.2.3 Financial potential 13
1.2.4 Privacy issue 14
1.3 UNMANNEDAERIALSYSTEM 15
1.3.1 Ground control station 17
1.3.2 UAV operator 18
1.3.2.1 Training environment 19
1.3.2.2 Assistant systems 20
1.3.3 UAV simulation 21
1.3.3.1 Architecture 23
1.3.3.2 Human−UAV interface considerations 24
1.4 CASESTUDIES 24
1.4.1 Industrial applications 26
1.4.1.1 Infrastructure monitoring 27
1.4.1.2 Photovoltaic modules monitoring 29
1.4.2 Civil engineering 30
1.4.2.1 3-D building imaging 31
1.4.2.2 Roof insulation inspection 32
1.4.2.3 Bridge inspection 32
vii
viii (cid:4) Contents
1.4.3 Safety and security 33
1.4.3.1 Traffic monitoring 33
1.4.3.2 Nuclear,biological,andchemicalaccident 36
1.4.3.3 Landmine detection 36
1.4.4 Environmental applications 37
1.4.4.1 Geo-referencing 38
1.4.4.2 Earth observation and mapping 38
1.4.4.3 Atmospheric monitoring 40
1.4.4.4 Wildlife evaluation 41
1.4.5 Precision agriculture 41
1.4.5.1 Biomass inspection 43
1.4.5.2 Soil monitoring 45
1.4.5.3 Forestry 45
1.4.6 Disaster relief 46
1.4.6.1 Search and rescue 47
1.4.6.2 Fires monitoring 52
1.4.7 Aided communication system 55
1.5 CONCLUSION 56
Bibliography 57
Chapter
2(cid:4) Mission Framework 69
2.1 INTRODUCTION 69
2.2 AUTONOMY 70
2.2.1 Levels of autonomy 71
2.2.2 Decision making 74
2.2.2.1 Human impact 74
2.2.2.2 Operational autonomy 75
2.2.3 Fundamentals 79
2.2.3.1 Graph theory basics 79
2.2.3.2 Temporal logic 81
2.2.3.3 Sensor coverage 83
2.3 HOMOGENEOUSUAVTEAM 85
2.3.1 Modeling 86
2.3.1.1 SISO systems 86
2.3.1.2 MIMO systems 87
2.3.2 Planning 88
Contents (cid:4) ix
2.3.3 Cooperative path following 94
2.3.3.1 Formation control 94
2.3.3.2 Cooperative mission 95
2.3.4 Communication 97
2.3.4.1 Basics 97
2.3.4.2 Information architectures 99
2.3.5 Task assignment 101
2.3.5.1 Intra-path constraints 101
2.3.5.2 Urban environments 102
2.4 HETEROGENEOUSUAVSTEAM 104
2.4.1 Consensus algorithm 104
2.4.2 Task assignment 105
2.4.2.1 Dynamic resource allocation 105
2.4.2.2 Auction-based approach 105
2.4.2.3 Deadlock problem 106
2.5 UAV−UGVTEAMS 107
2.5.1 Coordination framework 108
2.5.2 Relative localization approach 109
2.5.3 Logistics service stations 110
2.5.3.1 Continuous approximation model 111
2.5.3.2 Interoperable framework 112
2.6 MISSIONANALYSIS 112
2.6.1 Methodology 113
2.6.1.1 Photography with UAV 113
2.6.1.2 Emergency response with UAV 120
2.6.2 Mission specificity 121
2.6.2.1 High−level language 122
2.6.2.2 Model checking of missions 127
2.6.3 Human-UAV Team 129
2.6.3.1 Human−UAV Interaction 130
2.6.3.2 Operator versus UAV 133
2.7 CONCLUSION 136
Bibliography 137