NRI: INT: COLLAB: Raining Drones: Mid-Air Release & Recovery of Atmospheric Sensing Systems

NRI：INT：协作：无人机下雨：空中发布

• 批准号: 1925052
• 负责人: Carrick Detweiler
• 金额: $ 64.36万
• 依托单位: University of Nebraska-Lincoln
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2019
• 资助国家: 美国
• 起止时间: 2019-10-01 至 2023-09-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1925052&HistoricalAwards=false
• 关键词: NRI; INT; COLLAB; Raining; Drones

Understanding and forecasting weather is critical to nearly every industry and is even more important as weather patterns continue to change from their historical norms. Unmanned Aerial Systems (UASs) are capable of collecting valuable data in the lower kilometer of the atmosphere, which is under-sampled by traditional atmospheric sensing systems. However, a single UAS can only collect information from a small slice of the atmosphere at a time. This project will develop the systems and techniques to enable a UASs to carry, deploy, and recover smaller UASs and parachute-based weather sensors to create snapshots across atmospheric airmass boundaries. This will lead to the characterization of a much larger region of the lower atmosphere, consequently improving the understanding and forecasting of the weather. Carrying, deploying, and particularly recovering the systems, are critical to allow operations in remote locations and reuse of expensive sensors. Achieving these objectives requires new techniques to enable rich mid-air interactions between aerial robots. These techniques span from sensing and planning to control and run-time verification, all working together for the effective, efficient, and safe deployment of such teams of aerial robots. While this work is developed in the context of atmospheric sciences, the techniques are broadly applicable to many problems in distributed and collaborative robotics.This project will contribute techniques and systems to enable the development and deployment of teams of UASs that perform mid-air capture and release of other systems. More specifically, the expected outcomes of this work include: 1) Sensing, planning and control methodologies for UASs intercepting airborne targets that have stochastic full six degree of freedom motion, 2) Foundational elements for matched maneuvers between heterogeneous classes of aerial robots to perform aerial docking, 3) Strategies for rapid aerial deployment-capture-redeployment cycles for teams of UASs to enable observations over large geographic scales, 4) Run-time inference and enforcement of protocols orchestrating the interactions between distributed, heterogeneous robotic systems, and 5) Improved atmospheric sensing and monitoring capabilities that will enhance understanding and forecasting of atmospheric phenomena.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

了解和预测天气对于几乎每个行业都至关重要，并且随着天气模式不断偏离历史标准而变得更加重要。无人机系统 (UAS) 能够在大气层低层收集有价值的数据，而传统大气传感系统对这些数据的采样不足。然而，单个无人机一次只能从一小部分大气中收集信息。该项目将开发系统和技术，使无人机能够携带、部署和回收小型无人机和基于降落伞的天气传感器，以创建跨越大气气团边界的快照。 这将导致对低层大气更大区域的表征，从而提高对天气的理解和预报。携带、部署，特别是恢复系统，对于远程操作和重复使用昂贵的传感器至关重要。实现这些目标需要新技术来实现空中机器人之间丰富的空中交互。这些技术涵盖从传感和规划到控制和运行时验证，所有这些技术共同作用，以实现此类空中机器人团队的有效、高效和安全部署。 虽然这项工作是在大气科学的背景下开发的，但这些技术广泛适用于分布式和协作机器人技术中的许多问题。该项目将贡献技术和系统，以实现执行空中捕获和处理的 UAS 团队的开发和部署。释放其他系统。更具体地说，这项工作的预期成果包括：1）拦截具有随机全六自由度运动的空中目标的无人机系统的传感、规划和控制方法，2）异构类空中机器人之间匹配机动以执行空中任务的基础要素对接，3) 无人机系统团队快速空中部署-捕获-重新部署周期的策略，以实现大地理范围内的观测，4) 运行时推理和执行协议，协调协调分布式、异构机器人系统之间的相互作用，以及 5) 改进的大气传感和监测能力，将增强对大气现象的理解和预测。该奖项反映了 NSF 的法定使命，并通过使用基金会的智力优势和更广泛的影响进行评估，被认为值得支持审查标准。

项目成果

Dynamic Path Generation for Multirotor Aerial Docking in Forward Flight

前向飞行中多旋翼空中对接的动态路径生成

• DOI: 10.1109/cdc42340.2020.9304189
• 发表时间: 2020
• 期刊: IEEE Conference on Decision and Control (CDC
• 作者: Shankar, Ajay;Elbaum, Sebastian;Detweiler, Carrick
• 通讯作者: Detweiler, Carrick

Predicting Visual Differentiability for Unmanned Aerial Vehicle Gestures

• DOI: 10.1109/lra.2022.3180414
• 发表时间: 2022-10
• 期刊: IEEE Robotics and Automation Letters
• 影响因子: 5.2
• 作者: P. Fletcher;Angeline Luther;Carrick Detweiler;Brittany A. Duncan

University of Nebraska unmanned aerial system (UAS) profiling during the LAPSE-RATE field campaign

• DOI: 10.5194/essd-13-2457-2021
• 发表时间: 2021-06-02
• 期刊: EARTH SYSTEM SCIENCE DATA
• 影响因子: 11.4
• 作者: Islam, Ashraful;Shankar, Ajay;Detweiler, Carrick
• 通讯作者: Detweiler, Carrick

Trajectory Selection for Power-over-Tether Atmospheric Sensing UAS

系绳供电大气传感 UAS 的轨迹选择

• DOI: 10.1109/iros51168.2021.9636364
• 发表时间: 2021
• 期刊: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS
• 作者: Rico, Daniel A.;Munoz-Arriola, Francisco;Detweiler, Carrick
• 通讯作者: Detweiler, Carrick

Multirotor Docking with an Airborne Platform

多旋翼飞行器与机载平台对接

• DOI: 10.1007/978-3-030-71151-1_5
• 发表时间: 2021
• 期刊: Springer Proceedings in Advanced Robotics
• 作者: Shankar, A.;Elbaum, S.;Detweiler, C.
• 通讯作者: Detweiler, C.