CQAR: Closed Quarter Aerial Robot Design for Reconnaissance, Surveillance and Target Acquisition Tasks in Urban Areas
This paper describes a prototype aircraft that can fly
slowly, safely and transmit wireless video for tasks like reconnaissance,
surveillance and target acquisition. The aircraft is designed to
fly in closed quarters like forests, buildings, caves and tunnels which
are often spacious but GPS reception is poor. Envisioned is that a
small, safe and slow flying vehicle can assist in performing dull,
dangerous and dirty tasks like disaster mitigation, search-and-rescue
and structural damage assessment.
[1] Anderson, J.D. (1999), Aircraft Performance and Design, McGraw-Hill.
[2] Barrows, G., Neely, C. (2000). "Mixed-mode VLSI Optic Flow Sensors
for In-flight Control of a Micro Air Vehicle", Proc. SPIE, 4109 pp.
52-63.
[3] Blitch, J. (2002). "World Trade Center Search-and-Rescue Robots",
Plenary Session IEEE Int Conf Robotics and Automation, Washington
D.C.
[4] Choi, H., Sturdza, P., Murray, R.M. (1994). "Design and Construction of
a Small Ducted Fan Engine for Nonlinear Control Experiments", Proc.
American Control Conf., Baltimore MD, pp. 2618-2622.
[5] Ettinger, S.M., Nechyba, M.C., Ifju, P.G., Waszak, M. (2002). "Vision-
Guided Flight Stability and Control for Micro Air Vehicles", IEEE/RSJ
Int Conf on Robots and Systems, Lausanne, Switzerland, pp. 2134-2140.
[6] Fearing, R., et al (2000). "Wing Transmission for a Micromechanical
Flying Insect", IEEE Int Conf Robotics and Automation, San Francisco
pp. 1509-1516.
[7] Flynn, A.M. (1988). "Combining Sonar and Infrared Sensors For Mobile
Robot Navigation", Int. Journal of Robotics Research, pp. 5-14.
[8] Grasmeyer, J.M., Keennon, M.T. (2001). "Development of the Black
Widow Micro Air Vehicle", 39th AIAA Aerospace Sciences Meeting and
Exhibit, Reno, NV.
[9] Green, W.E., Oh, P.Y., Barrows, G. (2004). "Flying Insect Inspired
Vision for Autonomous Aerial Robot Maneuvers in Near-Earth Environments,"
IEEE Int Conf on Robotics and Automation (ICRA), New
Orleans, V1, pp. 2347-2352.
[10] Kellog, J., et al (2001). "The NRL MITE Air Vehicle", 16th Bristol
International Conference on Unmanned Air Vehicle Systems, Bristol,
UK.
[11] Kodiyalam, S., Sobieszczanski-Sobieski, J., "Multidisciplinary Design
Optimization - Some Formal Methods, Framework Requirements, and
Application to Vehicle Design", Int. Journal of Vehicle Design (Special
Issue), pp. 3-22.
[12] Hamel, T.; Mahony, R., Chriette, A. (2002). "Visual Servo Trajectory
Tracking for a Four Rotor VTOL Aerial Vehicle", IEEE International
Conference on Robotics and Automation (ICRA), Washington, D.C., pp.
2781-2786.
[13] Nicoud, J.D., Zufferey, J.C. (2002). "Toward Indoor Flying Robots",
IEEE/RSJ Int Conf on Robots and Systems, Lausanne, pp. 787-792.
[14] Oh, P.Y., Green, W.E. (2003). "Closed Quarter Aerial Robot Prototype
to Fly In and Around Buildings", Int. Conference on Computer, Communication
and Control Technologies, Vol. 5, pp. 302-307, Orlando, FL.
[15] Oh, P.Y., Green, W.E. (2003) "A Kite and Teleoperated Vision System
for Acquiring Aerial Images", IEEE International Conference on
Robotics and Automation (ICRA), Taipei, Taiwan, pp. 1404-1409.
[16] Pipitone, F., Kamgar-Parsi, B., Hartley, R. (2001). "Three Dimensional
Computer Vision for Micro Air Vehicles", Proc. SPIE 15th Aerosense
Symposium, Conf. 4363, Enhanced and Synthetic Vision 2001, Orlando
Florida.
[17] Sharp, C.S., Shakernia, O., Sastry, S.S. (2001). "A Vision System For
Landing an Unmanned Aerial Vehicle IEEE International Conference
on Robotics and Automation (ICRA), Seoul, Korea, pp. 1720-1727.
[18] Srinivasan, M.V., Chahl, J.S., Weber, K., Venkatesh, S., Nagle, M.G.,
Zhang, S.W. (1998). Robot Navigation Inspired By Principles of Insect
Vision in Field and Service Robotics, A. Zelinsky (ed), Springer Verlag
Berlin, NY 12-16.
[19] Stone, H., Wong, K.C. (1997). "Preliminary Design of a Tandem-Wing
Tail-Sitter UAV Using Multi-Disciplinary Design Optimization", Int.
Aerospace Congress, Sydney, Australia pp. 707-720.
[20] Saripalli, S., Montgomery, J.F., Sukhatme, G.S. (2002). "Vision-based
Autonomous Landing of an Unmanned Aerial Vehicle", IEEE International
Conference on Robotics and Automation (ICRA), Washington,
D.C., pp. 2799-2804.
[21] Zhang, H., Ostrowski, J.P. (1999). "Visual Servoing With Dynamics:
Control of an Unmanned Blimp", IEEE International Conference on
Robotics and Automation (ICRA), Detroit, pp. 618-623.
[1] Anderson, J.D. (1999), Aircraft Performance and Design, McGraw-Hill.
[2] Barrows, G., Neely, C. (2000). "Mixed-mode VLSI Optic Flow Sensors
for In-flight Control of a Micro Air Vehicle", Proc. SPIE, 4109 pp.
52-63.
[3] Blitch, J. (2002). "World Trade Center Search-and-Rescue Robots",
Plenary Session IEEE Int Conf Robotics and Automation, Washington
D.C.
[4] Choi, H., Sturdza, P., Murray, R.M. (1994). "Design and Construction of
a Small Ducted Fan Engine for Nonlinear Control Experiments", Proc.
American Control Conf., Baltimore MD, pp. 2618-2622.
[5] Ettinger, S.M., Nechyba, M.C., Ifju, P.G., Waszak, M. (2002). "Vision-
Guided Flight Stability and Control for Micro Air Vehicles", IEEE/RSJ
Int Conf on Robots and Systems, Lausanne, Switzerland, pp. 2134-2140.
[6] Fearing, R., et al (2000). "Wing Transmission for a Micromechanical
Flying Insect", IEEE Int Conf Robotics and Automation, San Francisco
pp. 1509-1516.
[7] Flynn, A.M. (1988). "Combining Sonar and Infrared Sensors For Mobile
Robot Navigation", Int. Journal of Robotics Research, pp. 5-14.
[8] Grasmeyer, J.M., Keennon, M.T. (2001). "Development of the Black
Widow Micro Air Vehicle", 39th AIAA Aerospace Sciences Meeting and
Exhibit, Reno, NV.
[9] Green, W.E., Oh, P.Y., Barrows, G. (2004). "Flying Insect Inspired
Vision for Autonomous Aerial Robot Maneuvers in Near-Earth Environments,"
IEEE Int Conf on Robotics and Automation (ICRA), New
Orleans, V1, pp. 2347-2352.
[10] Kellog, J., et al (2001). "The NRL MITE Air Vehicle", 16th Bristol
International Conference on Unmanned Air Vehicle Systems, Bristol,
UK.
[11] Kodiyalam, S., Sobieszczanski-Sobieski, J., "Multidisciplinary Design
Optimization - Some Formal Methods, Framework Requirements, and
Application to Vehicle Design", Int. Journal of Vehicle Design (Special
Issue), pp. 3-22.
[12] Hamel, T.; Mahony, R., Chriette, A. (2002). "Visual Servo Trajectory
Tracking for a Four Rotor VTOL Aerial Vehicle", IEEE International
Conference on Robotics and Automation (ICRA), Washington, D.C., pp.
2781-2786.
[13] Nicoud, J.D., Zufferey, J.C. (2002). "Toward Indoor Flying Robots",
IEEE/RSJ Int Conf on Robots and Systems, Lausanne, pp. 787-792.
[14] Oh, P.Y., Green, W.E. (2003). "Closed Quarter Aerial Robot Prototype
to Fly In and Around Buildings", Int. Conference on Computer, Communication
and Control Technologies, Vol. 5, pp. 302-307, Orlando, FL.
[15] Oh, P.Y., Green, W.E. (2003) "A Kite and Teleoperated Vision System
for Acquiring Aerial Images", IEEE International Conference on
Robotics and Automation (ICRA), Taipei, Taiwan, pp. 1404-1409.
[16] Pipitone, F., Kamgar-Parsi, B., Hartley, R. (2001). "Three Dimensional
Computer Vision for Micro Air Vehicles", Proc. SPIE 15th Aerosense
Symposium, Conf. 4363, Enhanced and Synthetic Vision 2001, Orlando
Florida.
[17] Sharp, C.S., Shakernia, O., Sastry, S.S. (2001). "A Vision System For
Landing an Unmanned Aerial Vehicle IEEE International Conference
on Robotics and Automation (ICRA), Seoul, Korea, pp. 1720-1727.
[18] Srinivasan, M.V., Chahl, J.S., Weber, K., Venkatesh, S., Nagle, M.G.,
Zhang, S.W. (1998). Robot Navigation Inspired By Principles of Insect
Vision in Field and Service Robotics, A. Zelinsky (ed), Springer Verlag
Berlin, NY 12-16.
[19] Stone, H., Wong, K.C. (1997). "Preliminary Design of a Tandem-Wing
Tail-Sitter UAV Using Multi-Disciplinary Design Optimization", Int.
Aerospace Congress, Sydney, Australia pp. 707-720.
[20] Saripalli, S., Montgomery, J.F., Sukhatme, G.S. (2002). "Vision-based
Autonomous Landing of an Unmanned Aerial Vehicle", IEEE International
Conference on Robotics and Automation (ICRA), Washington,
D.C., pp. 2799-2804.
[21] Zhang, H., Ostrowski, J.P. (1999). "Visual Servoing With Dynamics:
Control of an Unmanned Blimp", IEEE International Conference on
Robotics and Automation (ICRA), Detroit, pp. 618-623.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:50763", author = "Paul Y. Oh and William E. Green", title = "CQAR: Closed Quarter Aerial Robot Design for Reconnaissance, Surveillance and Target Acquisition Tasks in Urban Areas", abstract = "This paper describes a prototype aircraft that can fly
slowly, safely and transmit wireless video for tasks like reconnaissance,
surveillance and target acquisition. The aircraft is designed to
fly in closed quarters like forests, buildings, caves and tunnels which
are often spacious but GPS reception is poor. Envisioned is that a
small, safe and slow flying vehicle can assist in performing dull,
dangerous and dirty tasks like disaster mitigation, search-and-rescue
and structural damage assessment.", keywords = "Unmanned aerial vehicles, autonomous collisionavoidance, optic flow, near-Earth environments", volume = "1", number = "8", pages = "376-8", }
