Performance Evaluation of Asynchronous Concurrent Systems Using Petri Nets
IEEE Transactions on Software Engineering
Robot docking station for automatic battery exchanging and charging
ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
UAV Consumable Replenishment: Design Concepts for Automated Service Stations
Journal of Intelligent and Robotic Systems
Vision-Based Landing of Light Weight Unmanned Helicopters on a Smart Landing Platform
Journal of Intelligent and Robotic Systems
An analytical model for predicting the remaining battery capacity of lithium-ion batteries
IEEE Transactions on Very Large Scale Integration (VLSI) Systems
On the Scheduling of Systems of UAVs and Fuel Service Stations for Long-Term Mission Fulfillment
Journal of Intelligent and Robotic Systems
On the Concerted Design and Scheduling of Multiple Resources for Persistent UAV Operations
Journal of Intelligent and Robotic Systems
Persistent UAV Service: An Improved Scheduling Formulation and Prototypes of System Components
Journal of Intelligent and Robotic Systems
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Future Unmanned Aircraft Systems (UASs) are expected to be nearly autonomous and composed of heterogeneous Unmanned Aerial Vehicles (UAVs). While most of the current research focuses on UAV avionics and control algorithms, ground task automation has come to the attention of researchers during the past few years. Ground task automation not only relieves human operators, but may also expand the UAS operation area, improve system coverage and enable operation in risky environments without posing a threat to humans. We propose a model to evaluate the coverage of a given UAS. We also compare different solutions for various modules of an automated battery replacement system for UAVs. In addition, we propose a ground station capable of swapping a UAV's batteries, followed by a discussion of prototype components and tests of some of the prototype modules. The proposed platform is well-suited for high-coverage requirements and is capable of handling a heterogeneous UAV fleet.