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Unmanned aircraft such as multirotors are typically limited in endurance by the need to minimise weight, often sacrificing power plant mass and therefore output. Wireless power transmission is a method of delivering power to such aircraft from an off-vehicle transmitter, reducing weight whilst ensuring long-term endurance. However, transmission of high-powered lasers in operational scenarios carries significant risk. Station-keeping of the laser spot on the receiving surface is crucial to both ensuring the safety of the procedure and maximising efficiency. This paper explores the use of trajectory optimisation to maximise the station-keeping accuracy. A multi-agent model is presented, employing a quadrotor unmanned rotorcraft and energy transmission system, consisting of a two-axis gimbal, camera sensor and laser emitter. Trajectory is parametrised in terms of position and velocity at the extremes of the flight path. The optimisation operates on a cost function which considers target range, beam angle of incidence and laser spot location on the receiving surface. Several cases are presented for a range of variables in the trajectory and different conditions in the model and optimisation algorithm. Results demonstrate the viability of this approach in minimising station-keeping errors.
Murray L. Ireland; David Anderson. Optimisation of Trajectories for Wireless Power Transmission to a Quadrotor Aerial Robot. Journal of Intelligent & Robotic Systems 2018, 95, 567 -584.
AMA StyleMurray L. Ireland, David Anderson. Optimisation of Trajectories for Wireless Power Transmission to a Quadrotor Aerial Robot. Journal of Intelligent & Robotic Systems. 2018; 95 (2):567-584.
Chicago/Turabian StyleMurray L. Ireland; David Anderson. 2018. "Optimisation of Trajectories for Wireless Power Transmission to a Quadrotor Aerial Robot." Journal of Intelligent & Robotic Systems 95, no. 2: 567-584.
Formal verification of agents representing robot behaviour is a growing area due to the demand that autonomous systems have to be proven safe. In this paper we present an abstract definition of autonomy which can be used to model autonomous scenarios and propose the use of small-scale simulation models representing abstract actions to infer quantitative data. To demonstrate the applicability of the approach we build and verify a model of an unmanned aerial vehicle (UAV) in an exemplary autonomous scenario, utilising this approach.
Ruth Hoffmann; Murray Ireland; Alice Miller; Gethin Norman; Sandor Veres. Autonomous Agent Behaviour Modelled in PRISM – A Case Study. Transactions on Petri Nets and Other Models of Concurrency XV 2016, 104 -110.
AMA StyleRuth Hoffmann, Murray Ireland, Alice Miller, Gethin Norman, Sandor Veres. Autonomous Agent Behaviour Modelled in PRISM – A Case Study. Transactions on Petri Nets and Other Models of Concurrency XV. 2016; ():104-110.
Chicago/Turabian StyleRuth Hoffmann; Murray Ireland; Alice Miller; Gethin Norman; Sandor Veres. 2016. "Autonomous Agent Behaviour Modelled in PRISM – A Case Study." Transactions on Petri Nets and Other Models of Concurrency XV , no. : 104-110.
Multirotor is the umbrella term for the family of unmanned aircraft, which include the quadrotor, hexarotor and other vertical take-off and landing (VTOL) aircraft that employ multiple main rotors for lift and control. Development and testing of novel multirotor designs has been aided by the proliferation of 3D printing and inexpensive flight controllers and components. Different multirotor configurations exhibit specific strengths, while presenting unique challenges with regards to design and control. This article highlights the primary differences between three multirotor platforms: a quadrotor; a fully-actuated hexarotor; and an octorotor. Each platform is modelled and then controlled using non-linear dynamic inversion. The differences in dynamics, control and performance are then discussed.
Murray L. Ireland; Aldo Vargas; David Anderson. A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control. Aerospace 2015, 2, 325 -352.
AMA StyleMurray L. Ireland, Aldo Vargas, David Anderson. A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control. Aerospace. 2015; 2 (2):325-352.
Chicago/Turabian StyleMurray L. Ireland; Aldo Vargas; David Anderson. 2015. "A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control." Aerospace 2, no. 2: 325-352.
International Journal of Unmanned Systems Engineering (IJUSEng). Official journal of Unmanned Vehicle University.
Murray Ireland; David Anderson. An Investigation of the Effects of Model Resolution on Control of a Quadrotor Micro Air Vehicle. International Journal of Unmanned Systems Engineering 2015, 3, 17 -25.
AMA StyleMurray Ireland, David Anderson. An Investigation of the Effects of Model Resolution on Control of a Quadrotor Micro Air Vehicle. International Journal of Unmanned Systems Engineering. 2015; 3 (1):17-25.
Chicago/Turabian StyleMurray Ireland; David Anderson. 2015. "An Investigation of the Effects of Model Resolution on Control of a Quadrotor Micro Air Vehicle." International Journal of Unmanned Systems Engineering 3, no. 1: 17-25.