Unmanned aerial vehicle (UAV) networks are playing an important role in various areas due to their agility and versatility, which have attracted significant attentions from both the academia and industry in recent years. As an integration of embedded systems with communication devices, computation capabilities and control modules, the UAV network could build a closed loop from data perceiving, information exchanging, decision making to the final execution, which tightly integrates cyber processes into physical devices. Therefore, the UAV network could be considered as a cyber physical system (CPS). Revealing coupling effects among the three interacted CPS components, i.e., communication, computation and control, is envisioned as the key to properly utilize all available resources and hence improve the performance of the UAV network. In this paper, we present a comprehensive survey on UAV networks from a CPS perspective. Firstly, we review the basics and advances of the three CPS components in UAV networks. Then we look inside to investigate how these components contribute to the system performance by classifying UAV networks into three hierarchies, i.e., cell level, system level, and system of system level. Furthermore, the coupling effects among these CPS components are explicitly illustrated, which could be enlightening to deal with the challenges in each individual aspect. New research directions and open issues are discussed at the end of this survey. With this intensive literature review, we intend to provide a novel insight into the state of the art in UAV networks.

Survey on Unmanned Aerial Vehicle Networks: A Cyber Physical System Perspective

Recently, unmanned aerial vehicles (UAVs), also known as drones, have come in a great diversity of several applications such as military, construction, image and video mapping, medical, search and rescue, parcel delivery, hidden area exploration, oil rigs and power line monitoring, precision farming, wireless communication and aerial surveillance. The drone industry has been getting significant attention as a model of manufacturing, service and delivery convergence, introducing synergy with the coexistence of different emerging domains. UAVs offer implicit peculiarities such as increased airborne time and payload capabilities, swift mobility, and access to remote and disaster areas. Despite these potential features, including extensive variety of usage, high maneuverability, and cost-efficiency, drones are still limited in terms of battery endurance, flight autonomy and constrained flight time to perform persistent missions. Other critical concerns are battery endurance and the weight of drones, which must be kept low. Intuitively it is not suggested to load them with heavy batteries. This study highlights the importance of drones, goals and functionality problems. In this review, a comprehensive study on UAVs, swarms, types, classification, charging, and standardization is presented. In particular, UAV applications, challenges, and security issues are explored in the light of recent research studies and development. Finally, this review identifies the research gap and presents future research directions regarding UAVs.

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Towards the Unmanned Aerial Vehicles (UAVs): A Comprehensive Review

A Multiscale Framework with Extended Kalman Filter for Lithium-Ion Battery SOC and Capacity Estimation

https://ira.lib.polyu.edu.hk/bitstream/10397/80398/2/Zhang_Intelligent_GNSS_INS.pdf

Intelligent GNSS/INS integrated navigation system for a commercial UAV flight control system

The Internet of Drones (IoD) recently gained momentum due to its high adaptability to a wide variety of complex scenarios. Indeed, Unmanned Aerial Vehicles (UAVs) can successfully be employed in different applications, such as agriculture, search and rescue missions, surveillance systems, mission-critical services, among others, thanks to some technological and practical advantages: high mobility, capability to extend wireless coverage areas, or ability to reach places inaccessible to humans. Moreover, the employment of drones promisingly improves the performance parameters of different network architectures, e.g., reliability, connectivity, throughput, and delay. Nevertheless, the adoption of networks of drones gives rise to several issues related to the intrinsic unreliability of the wireless medium, the duration of batteries, and the high mobility degree, which may cause frequent topology changes. Also security and privacy issues need to be properly investigated. This explains the very large number of works produced in the recent literature on IoD-related topics. With respect to other surveys on IoD-related topics, the goal of the present work is to categorize the multifaceted aspects of IoD, proposing a classification approach of the IoD environment that develops along two main directions. The IoD is initially introduced according to the possible applications and reference operating scenarios. On top of that, this work discussed with its applicability with a dedicated focus on the economical/social implications that the adoption of drones at scale may have. At a macroscopic level, it follows the structure of the Internet protocol stack, starting from the physical layer and extending to the upper layers, without neglecting cross-layer and optimization approaches. At a finer level, all the most relevant works belonging to each layer of the stack are further classified, according to the different issues that propose a peculiar challenges for each layer, and highlighting the most relevant differences with the other surveys present in literature. To provide a deeper insight, the present work embraces many facets of the IoD, with a thorough examination of privacy and security considerations. Finally, a discussion on the main research challenges and possible future directions is carried out, focusing on both open issues and the most promising technologies that deserve to be further developed in the IoD field.

An extensive survey on the Internet of Drones

https://findresearcher.sdu.dk:8443/ws/files/143278283/A_Survey_of_Open_Source_UAV_Flight_Controllers_and_Flight_Simulators.pdf

A survey of Open-Source UAV flight controllers and flight simulators

Recently, Unmanned Aerial Vehicles (UAVs), socalled drones, have gotten a lot of attention in academic research and commercial applications due to their simple structure, ease of operations and low-cost hardware components. Flight controller, embedded electronic component, represents the core part of the drone. It aims at performing the main operations of the drone (e.g., autonomous control and navigation). There are various types of flight controllers and each of them has its own characteristics and features.This paper presents an extensive survey on the publicly available open-source flight controllers that can be used for academic research. The paper introduces the basics of UAV system with its components. The survey fully covers both hardware and software open-source flight controller platforms and compares their main features.

A Survey on Open-Source Flight Control Platforms of Unmanned Aerial Vehicle

This paper presents an algorithm for actuator fault diagnosis of nonlinear systems. The method is derived under classical uniform complete observability, controllability, and persistent excitation condition. To this end, the fault is modeled as a constant or a piecewise constant parameter vector. The diagnosis algorithm is based on the Extended Kalman Filter (EKF) with an explicit update law for the actuator fault estimation. From a practical point of view, the proposed algorithm can be used for general nonlinearity. To illustrate the effectiveness of the diagnosis algorithm, we present two numerical examples using the models of an autonomous car and a gantry crane.

Adaptive Extended Kalman Filter for Actuator Fault Diagnosis

This paper presents State-of-Charge (SoC) estimation of lithium-ion batteries using eXogenous Kalman filter (XKF). The state-space equation for the lithium-ion battery is obtained from the equivalent circuit model (ECM). It has linear process equations and a nonlinear output voltage equation. The estimation is done using a cascade of nonlinear observer and a linearized Kalman filter. The method is tested using experimental data of a lithium-ion-phosphate (LiFePO 4 ) battery under dynamic stress test (DST) and federal urban driving schedule (FUDS). The results are compared with existing Kalman filters.

eXogenous Kalman Filter for State-of-Charge Estimation in Lithium-ion Batteries

This paper presents the concept, development and testing of RoboTrainer-Light, a low-cost yet effective and usable training robot designed for use in the home. Although designed for simplicity and economic mass production, it is believed to enable a large section of patients with partial paralysis to perform effective neurological training in their own home. The robot consists of a wire-pulling motor combined with a sensitive force sensor, controlled by an ultra-high-bandwidth hybrid controller, allowing any combination of tension-, velocity- and length-control of the wire. The controller architecture is distributed and modular, allowing up to 15 wire pulling motors to be combined in parallel kinematic configurations. Compared to other rehabilitative robots, RoboTrainer-Light represents one of the simplest and cheapest possible configurations, which is further emphasized by our deliberate choice of low-cost components and technologies. Preliminary tests indicate that RoboTrainer-Light can support a large group of post-stroke and post-accident victims in effective neurological training in their own home or in local clinics, at an estimated cost lower than 500USD per unit for a high production volume.

Martin Skriver

Papers

A survey of Open-Source UAV flight controllers and flight simulators

A Survey on Open-Source Flight Control Platforms of Unmanned Aerial Vehicle

Adaptive Extended Kalman Filter for Actuator Fault Diagnosis

eXogenous Kalman Filter for State-of-Charge Estimation in Lithium-ion Batteries

Low-cost modular robotic system for neurological rehabilitative training