Publications associées à Aerodynamic characterization of a delta-wing UAV based on real flight data

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

EPFL2024

Aerodynamic modeling of a delta-wing UAV for model-based navigation

Jan Skaloud, Pasquale Longobardi

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

2024

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Jan Skaloud, Gabriel François Laupré

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

2024

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

Jan Skaloud, Gabriel François Laupré

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

2023

Wikipedia Reader Navigation: When Synthetic Data Is Enough

Tiziano Piccardi, Robert West, Akhil Arora, Alberto Garcia Duran

Every day millions of people read Wikipedia. When navigating the vast space of available topics using hyperlinks, readers describe trajectories on the article network. Understanding these navigation patterns is crucial to better serve readers' needs and ad ...

ASSOC COMPUTING MACHINERY2022

Optimization and Real-Time Aspects of Aircraft Model-Based Navigation

Gabriel François Laupré

The Vehicle Dynamic Model (VDM) based navigation of fixed-wing drones determines the airborne trajectory in conjunction with Inertial Measurement Unit (IMU) sensors. Without Global Navigation Satellite Systems (GNSS) signals, this method estimates navigati ...

EPFL2022

Calibration of Fixed-Wing UAV Aerodynamic Coefficients with Photogrammetry for VDM-based Navigation

Jan Skaloud, Gabriel François Laupré

Autonomous navigation is a crucial aspect for fixed-wing unmanned aerial vehicle operation when encountering disturbance or denial of GNSS signal reception. Vehicle dynamic model-based navigation improves the performance of methods based exclusively on int ...

2021

Géohistoire de l'Albanie moderne. Une lecture des recensements de 1918 à 2011

Alain Nicolas Jarne

In this thesis, an original database is constituted, described and exploited in a geohistorical perspective, containing the registration of the population at the local level for the fifteen censuses conducted in Albania between 1918 and 2011. The precision ...

EPFL2020

Increased power by harmonizing structural MRI site differences with the ComBat batch method in ENIGMA

Erick Jorge Canales Rodriguez, Wenhao Jiang

A common limitation of neuroimaging studies is their small sample sizes. To overcome this hurdle, the Enhancing Neuro Imaging Genetics through Meta-Analysis (ENIGMA) Consortium combines neuroimaging data from many institutions worldwide. However, this intr ...

2020

Sensitivity to Time Delays in VDM-Based Navigation

Jan Skaloud, Gabriel François Laupré, Mehran Khaghani

A recently proposed navigation methodology for aerial platforms based on the vehicle dynamic model (VDM) has shown promising results in terms of navigation autonomy. Its practical realization requires that control inputs are related to the same absolute ti ...

2019

Nonlinear dynamic analysis of D-alpha signals for type I edge localized modes characterization on JET with a carbon wall

Gilles Arnoux, Patrick Blanchard, Basil Duval, Ambrogio Fasoli, Yves Martin, Richard Pitts, Olivier Sauter, Henri Weisen, Robin Humphry-Baker, Stefano Coda, Martinus Gijs, Partha Dutta, Marco Wischmeier, Jan Horacek, Andrea Scarabosio, Vlad Trifa, Jonathan Graves, Duccio Testa, Miguel Fernández Ruiz, Sun Hee Kim, Mikhail Maslov, Javier García Hernández, David Pfefferlé, José Pedro Rebelo Ferreira Marques, Pedro Camilo de Oliveira e Silva, Daniel Filipe Dos Santos Alves Jana, Rebecca Hill, Jonnathan Cesar Hidalgo Acosta, Dalziel Joseph Wilson, Pierre-Thomas Paul Brun, Jonathan Marc Philippe Faustin, Federico Nespoli, Joan Decker, Cristian Galperti, Bruno Emanuel Ferreira De Sousa Correia, Antonio José Pereira de Figueiredo, Liang Yao, Thomas Jean F Bauwens, Otto Asunta,

Vehicle Dynamic Model Based Navigation for Small UAVs

Mehran Khaghani

The dominant navigation system for small civilian UAVs today is based on integration of inertial navigation system (INS) and global navigation satellite system (GNSS). This strategy works well to navigate the UAV, as long as proper reception of GNSS signal ...

EPFL2018

Assessment of VDM-based autonomous navigation of a UAV under operational conditions

Jan Skaloud, Mehran Khaghani

This paper presents extensions and practical realization of a previously proposed novel approach to navigation and sensor integration for small unmanned aerial vehicles (UAV). The proposed approach employs vehicle dynamic model (VDM) as process model withi ...

Elsevier2018

Multi-test Detection and Protection Algorithm Against Spoofing Attacks on GNSS Receivers

Pierre-André Farine, Aleksandar Jovanovic, Cyril Botteron

The vulnerability against interference, spoofing, and jamming of GNSS receivers is considered nowadays a major security concern. This security threat is exacerbated with the existing market availability of GPS jamming and spoofing equipment sold at reasona ...

2014

Learning to Control Planar Hitting Motions in a Monigolf-like Task

Aude Billard, Seyed Mohammad Khansari Zadeh, Klas Jonas Alfred Kronander

A current trend in robotics is to define robot tasks using a combination of superimposed motion patterns. For maximum versatility of such motion patterns, they should be easily and efficiently adaptable for situations beyond those for which the motion was ...

IEEE2011

False Discovery Rate for Wavelet-Based Statistical Parametric Mapping

Michaël Unser, Dimitri Nestor Alice Van De Ville

Model-based statistical analysis of functional magnetic resonance imaging (fMRI) data relies on the general linear model and statistical hypothesis testing. Due to the large number of intracranial voxels, it is important to deal with the multiple compariso ...

IEEE2008

Algorithms for map-aided autonomous indoor pedestrian positioning and navigation

The personal positioning and navigation became a very challenging topic in our dynamic time. The urban canyons and particularly indoors represent the most difficult areas for personal navigation problematic. Problems like disturbed satellite signals make t ...

EPFL2007

Bayesian Approach for Indoor Pedestrian Localisation

Bertrand Merminod, Michel Bierlaire

The principal concept of navigation is to start from a known (initial) position and to ensure a continued and reliable localisation of the user during his/her movement. The initial position of the trajectory is usually obtained via GPS or defined by the us ...

2006

Development of a robotic mobile mapping system by vision-aided inertial navigation : a geomatics approach

Fadi Atef Bayoud

Vision-based inertial-aided navigation is gaining ground due to its many potential applications. In previous decades, the integration of vision and inertial sensors was monopolised by the defence industry due to its complexity and unrealistic economic burd ...

EPFL2006