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Research on Multiple Aerial Robots

  • Attitude Control of Aerial Manipulator

-Description: Recently, aerial manipulation has received increasing attention. The use of aerial manipulators would open a range of applications. The manipulator movements cause reaction forces on the UAV that introduce destabilizing effects, suitable control architectures are required to maintain stability during manipulation and flight.
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  • Cooperative Control of Multi-UAVs for Transportation of Crops

-Description: Recently, there are many studies on aerial transportation using UAV such as Amazon’s shipping drone. However, one UAV does not perform manipulation tasks as lifting and transporting large or heavy freight beyond the payload. To solve these problems, we study on cooperative control of multi-UAVs for transportation. We also study formation control,  which can avoid obstacle and keep distance between each UAV for collision avoidance. In conclusion, using the viewpoint of statics and dynamics we develop models, design algorithms and create robotic systems that are able to cooperative control of multi-UAVs.
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  • Aerial SLAM of UAV

-Description:​ Visual navigation for UAV with Point Cloud database in non-GPS environment: help autonomous UAV navigate wthin that environment one location to another, by comparing current camera view with data base stored about map
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  • Aerial SLAM of Multi-UAVs

-Description: 

• Extract Point Cloud from multiple local odometers

• Calibration to generalize a global Point Cloud

• Navigation for multi-UAVs in Global map

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  • Autonomous Flight of Multi-UAVs

-Description: For the purpose of smart agriculture, planning paths for autonomous multi-UAVs that serve to spraying, harvesting or transportation, and so on.

• Keep UAVS following target spaces in free space ( C_free)

• Avoiding the complement C_free or obstacles based on appropriate decision tree

• Build machine learning model 

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  • Haptic Teleoperation of Aerial Manipulator

-Description: It is difficult to fully automate harvesting, pesticide spraying and transportation using agricultural robots because of the large uncertainty of the environment. In other words, automation systems do not work well. Therefore, the worker can perfectly accomplish the work performance by remotely manipulating the robot and performing the rest of the work. The worker performs various agricultural work by manipulating the aerial robot in the slave site using the haptic device in the master site as shown below. For example, an operator can harvest the remaining fruit (such as fruits not harvested by an automated system) through the teleoperation system. In addition, the worker can be presented with the haptic force through the haptic device when the remote robot contacts with the fruit. This gives the operator the feeling of harvesting the fruit directly at the slave site. Such a system can make a worker immerse in a slave site and at the same time prevent a careless work and improve a work performance. We are developing a hardware platform and a control algorithm for these systems.
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  • Shared Multimodal Teleoperation for Cooperation of Multiple Aerial Manipulators

-Description: The multi-aerial robot system enables things that a single robot can not perform. Many harvests can be transferred because cooperation can increase payload with a stable posture. In addition, by teleoperation of such a system, it is possible to safely and quickly execute the cooperation system which is not perfect yet automatically.
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  • UAV-based Tracking of Small Insect

-Description:

• Development of UAV-based small insect searching system

    - Development of small insect tracking system based on micro-sensor

    - Development communication SW between receiver of micro-sensor and small insect searching
      system

• Development of small insect localization algorithm based on UAV SLAM

     - Using particle filter algorithm to developing algorithm of position estimation

     - Using EKF(extended Kalman filter) for improvement in position estimation

-Related Publications
  • Q. Son Le, J. Kim, J. Kim, and H. I. Son, "Report on Work in Progress of Small Insect Tracking System using Autonomous UAV," International Conference on Ubiquitous Robots and Ambient Intelligence, submitted.
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