KFU. Card publication. A Vision-Based Robust Adaptive Control for Caging a Flood Area Via Multiple UAVs

KAZAN
FEDERAL UNIVERSITY

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A VISION-BASED ROBUST ADAPTIVE CONTROL FOR CAGING A FLOOD AREA VIA MULTIPLE UAVS

Form of presentation

Articles in international journals and collections

Year of publication

2021

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Bibliographic description in the original language

Ma J., Guo D., Bai Y., Svinin M., Magid E. A Vision-Based Robust Adaptive Control for Caging a Flood Area Via Multiple UAVs // Proceedings of the 18th International Conference on Ubiquitous Robots (UR 2021) (Gangneung-si, South Korea; 12-14 July 2021) - p. 386-391.

Annotation

Proceedings of the 18th International Conference on Ubiquitous Robots (UR 2021)

Keywords

Adaptation models, Lakes, Feature extraction, Floods, Function approximation, Adaptive control, Robots

The name of the journal

Proceedings of the 18th International Conference on Ubiquitous Robots (UR 2021)

URL

https://ieeexplore.ieee.org/abstract/document/9494698

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=256024&p_lang=2

Resource files

File name	Size (MB)	Format
F_2021_A_Vision_Based_Robust_Adaptive_Control_for_Caging_a_Flood_Area_via_Multiple_UAVs.pdf	5,06	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.date.accessioned	2021-01-01T00:00:00Z	ru_RU
dc.date.available	2021-01-01T00:00:00Z	ru_RU
dc.date.issued	2021	ru_RU
dc.identifier.citation	Ma J., Guo D., Bai Y., Svinin M., Magid E. A Vision-Based Robust Adaptive Control for Caging a Flood Area Via Multiple UAVs // Proceedings of the 18th International Conference on Ubiquitous Robots (UR 2021) (Gangneung-si, South Korea; 12-14 July 2021) - p. 386-391.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=256024&p_lang=2	ru_RU
dc.description.abstract	Proceedings of the 18th International Conference on Ubiquitous Robots (UR 2021)	ru_RU
dc.description.abstract	This paper presents a control strategy for caging a flood area via multiple UAVs. The strategy consists of the following parts. A novel architecture for video segmentation, Multiscale Features Fusion based MobileNet (MFFM-Net), is constructed to detect the flood boundary. A Function Approximation Technique based Immersion and Invariance (FATII) tracking controller is employed to constrain a single UAV on the flood boundary in the presence of external disturbances. A flocking based formation controller is designed to uniformly distribute UAVs along the flood boundary without collisions among neighbours. The proposed strategy has been verified through simulations under the ROS/Gazebo environment.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Adaptation models	ru_RU
dc.subject	Lakes	ru_RU
dc.subject	Feature extraction	ru_RU
dc.subject	Floods	ru_RU
dc.subject	Function approximation	ru_RU
dc.subject	Adaptive control	ru_RU
dc.subject	Robots	ru_RU
dc.title	A Vision-Based Robust Adaptive Control for Caging a Flood Area Via Multiple UAVs	ru_RU
dc.type	Articles in international journals and collections	ru_RU