IUCRC: Phase 2: Center for Unmanned Aircraft Systems

IUCCRC：第二阶段：无人机系统中心

• 批准号: 1650468
• 负责人: Eric Frew
• 金额: $ 50万
• 依托单位: University of Colorado at Boulder
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2017
• 资助国家: 美国
• 起止时间: 2017-04-01 至 2022-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1650468&HistoricalAwards=false
• 关键词: IUCRC; Phase; Center; Unmanned; Aircraft

The Center for Unmanned Aircraft Systems (C-UAS) addresses the issues common to the unmanned aircraft system (UAS) industry that limit widespread application across national security, scientific, civil, and commercial domains. Research within the UAS industry is driven by both technical gaps existing for specific high-value applications and the current under-developed regulatory framework that is needed for integration of UAS into the national airspace. The full value of unmanned aircraft systems, especially for a broad range of scientific and civil applications, cannot be realized without significant multidisciplinary research efforts such as those proposed here. Toward that goal, C-UAS investigates and develops new algorithms, architectures, and operational procedures for unmanned aircraft systems. The center contributes to the advancement of the state of the art for UAS through its research at the center's universities and by training graduate students in areas supporting the advancement of UAS. The research pursued in C-UAS has potential application to unmanned aircraft of all sizes. The primary focus of research activities, however, is on small unmanned aircraft systems (SUAS), which feature aircraft with wingspans in the 1 ft to 8 ft range. C-UAS university sites have distinguished themselves with their experimental flight test demonstrations on these smaller platforms. The research interests and needs of industry in the area of UAS align well with the skills, knowledge, and background of the university participants in the center. Research focus areas for the University of Colorado Boulder site can be described in terms of (1) technical areas and (2) application areas. Technical topic areas in which the University of Colorado has particular strength and interest include: (i) Airborne communication networks and network-enabled autonomy (e.g., methods for routing data through mobile ad-hoc networks and for accessing dispersed computing), (ii) environmental sensing (e.g., novel sensor development and planning algorithms for targeted observation of environmental phenomena), (iii) human-autonomy interaction (e.g., natural language interfaces and humans-as-sensor models for communication of spatial information), (iv) assured autonomy and user trust (e.g., measures of machine self-confidence and assessment of their impact on user trust), (v) UAS traffic management (e.g., investigating the impact of weather on small UAS operations), and (vi) guidance and control with in complex winds (e.g., implementing control algorithms for wind gust disturbance rejection or for energy harvesting). Application topic areas in which the University of Colorado has particular strength and interest include: (i) Atmospheric science with emphasis on severe weather, (ii) Cooperative distributed sensor fusion and target tracking, and (iii) Search and rescue. Specific research projects proposed by University of Colorado faculty members in these technical and application areas are selected annually by the Industry Advisory Board (IAB).

无人机系统中心 (C-UAS) 致力于解决无人机系统 (UAS) 行业常见的问题，这些问题限制了无人机在国家安全、科学、民用和商业领域的广泛应用。无人机行业内的研究是由特定高价值应用存在的技术差距以及当前将无人机纳入国家空域所需的不发达的监管框架推动的。无人驾驶飞机系统的全部价值，特别是对于广泛的科学和民用应用来说，如果没有像这里提出的那样的重大多学科研究工作，就无法实现。为了实现这一目标，C-UAS 研究并开发了无人机系统的新算法、架构和操作程序。该中心通过在中心大学的研究以及在支持无人机系统发展的领域培训研究生，为无人机系统技术的发展做出贡献。 C-UAS 中进行的研究有可能应用于各种尺寸的无人机。然而，研究活动的主要焦点是小型无人机系统 (SUAS)，其特点是翼展在 1 英尺到 8 英尺范围内的飞机。 C-UAS 大学站点凭借在这些较小平台上进行的实验性飞行测试演示而脱颖而出。工业界在无人机领域的研究兴趣和需求与该中心大学参与者的技能、知识和背景非常吻合。科罗拉多大学博尔德分校的研究重点领域可分为 (1) 技术领域和 (2) 应用领域。科罗拉多大学特别擅长和感兴趣的技术主题领域包括：（i）机载通信网络和网络支持的自治（例如，通过移动自组织网络路由数据和访问分散计算的方法），（ii）环境传感（例如，用于有针对性地观察环境现象的新型传感器开发和规划算法），（iii）人机交互（例如，用于空间信息通信的自然语言界面和人作为传感器模型），（iv）保证自主权和用户信任（例如，机器自信心的测量及其对用户信任的影响的评估），（v）无人机交通管理（例如，调查天气对小型无人机操作的影响），以及（vi）复杂风中的引导和控制（例如，实施阵风扰动抑制或能量收集的控制算法）。科罗拉多大学特别擅长和感兴趣的应用主题领域包括：(i) 重点关注恶劣天气的大气科学，(ii) 协作分布式传感器融合和目标跟踪，以及 (iii) 搜索和救援。科罗拉多大学教员在这些技术和应用领域提出的具体研究项目每年由行业咨询委员会 (IAB) 选出。

项目成果

Forward Adaptive Transfer of Gaussian Process Regression

高斯过程回归的前向自适应传递

• DOI: 10.2514/1.i010437
• 发表时间: 2017-04-07
• 期刊: J. Aerosp. Inf. Syst.
• 作者: Neeti Wagle;E. Frew
• 通讯作者: E. Frew

Collaborative Semantic Data Fusion with Dynamically Observable Decision Processes

协作语义数据融合与动态可观察决策过程

• 发表时间: 2020-02
• 期刊: 2019 22th International Conference on Information Fusion (FUSION
• 作者: Burks, L.;Ahmed, N.
• 通讯作者: Ahmed, N.

Optimal Continuous State POMDP Planning With Semantic Observations: A Variational Approach

具有语义观察的最优连续状态 POMDP 规划：变分方法

• DOI: 10.1109/tro.2019.2933720
• 发表时间: 2018-07-22
• 期刊: IEEE Transactions on Robotics
• 影响因子: 7.8
• 作者: Luke Burks;Ian Loefgren;N. Ahmed
• 通讯作者: N. Ahmed

“Dave...I can assure you ...that it’s going to be all right ...” A Definition, Case for, and Survey of Algorithmic Assurances in Human-Autonomy Trust Relationships

“戴夫……我可以向你保证……一切都会好起来的……”人类自主信任关系中算法保证的定义、案例和调查

• DOI: 10.1145/3267338
• 发表时间: 2017-11-08
• 期刊: ACM Computing Surveys (CSUR)
• 作者: Brett W. Israelsen;N. Ahmed
• 通讯作者: N. Ahmed

Collaborative human-autonomy semantic sensing through structured POMDP planning

通过结构化 POMDP 规划实现协作式人类自主语义感知

• DOI: 10.1016/j.robot.2021.103753
• 发表时间: 2021-06
• 期刊: Robotics and Autonomous Systems
• 影响因子: 4.3
• 作者: Burks, Luke;Ahmed, Nisar;Loefgren, Ian;Barbier, Luke;Muesing, Jeremy;McGinley, Jamison;Vunnam, Sousheel
• 通讯作者: Vunnam, Sousheel