Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Path planning for remotely controlled UAVs using Gaussian process filter
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
2017 (English)In: 17th International Conference on Control, Automation and Systems, ICCAS 2017, IEEE Computer Society, 2017, p. 477-482Conference paper, Published paper (Refereed)
Abstract [en]

Most of the recent results in control of unmanned aerial vehicles (UAVs) have focused on motion stability and navigation in well-structured environments, without considering communication delay influences. In order to deal with time delays and packet losses in networked UAVs, this paper suggests a machine learning based Gaussian process (GP) filter for a path planning problem. The developed GP filter estimates the UAV states accurately given delayed observation by learning the pattern of network-induced effects on UAV maneuvers. We validate that the GP filter produces the lower error rate than Kalman filter by analyzing error covariances. The proposed algorithm is evaluated on a collaborative trajectory tracking task for two networked-UAVs and the better control performance is achieved.

Place, publisher, year, edition, pages
IEEE Computer Society, 2017. p. 477-482
Series
International Conference on Control Automation and Systems, ISSN 2093-7121
Keywords [en]
Filtering, Gaussian process for regression, Machine learning, Model predictive control, Path planning
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-225502DOI: 10.23919/ICCAS.2017.8204486ISI: 000426974400076Scopus ID: 2-s2.0-85044448519ISBN: 9788993215137 OAI: oai:DiVA.org:kth-225502DiVA, id: diva2:1195856
Conference
17th International Conference on Control, Automation and Systems, ICCAS 2017, Ramada PlazaJeju, South Korea, 18 October 2017 through 21 October 2017
Funder
Swedish Foundation for Strategic Research Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20180406

Available from: 2018-04-06 Created: 2018-04-06 Last updated: 2018-04-06Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records BETA

Yoo, Jaehyun

Search in DiVA

By author/editor
Yoo, JaehyunJohansson, Karl Henrik
By organisation
Automatic Control
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
Total: 8 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf