The Cross Entropy Method: A Unified Approach To Combinatorial Optimization, Monte-carlo Simulation (Information Science and Statistics)
Global likelihood optimization via the cross-entropy method with an application to mixture models
WSC '04 Proceedings of the 36th conference on Winter simulation
Journal of Intelligent and Robotic Systems
Vision-Based Odometry and SLAM for Medium and High Altitude Flying UAVs
Journal of Intelligent and Robotic Systems
Controlling a drone: Comparison between a based model method and a fuzzy inference system
Applied Soft Computing
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Journal of Intelligent and Robotic Systems
Adaptive neuro-fuzzy inference system based autonomous flight control of unmanned air vehicles
Expert Systems with Applications: An International Journal
A pan-tilt camera fuzzy vision controller on an unmanned aerial vehicle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Optimal fuzzy control system using the cross-entropy method. A case study of a drilling process
Information Sciences: an International Journal
Classical and fuzzy-genetic autopilot design for unmanned aerial vehicles
Applied Soft Computing
Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM
Journal of Intelligent and Robotic Systems
Autonomous quadrotor flight with vision-based obstacle avoidance in virtual environment
Expert Systems with Applications: An International Journal
Robot-Assisted Bridge Inspection
Journal of Intelligent and Robotic Systems
Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments
Journal of Field Robotics
Fuzzy Logic Controller for a Mini Coaxial Indoor Helicopter
Journal of Intelligent and Robotic Systems
An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement
Journal of Intelligent and Robotic Systems
Trajectory generation and control for precise aggressive maneuvers with quadrotors
International Journal of Robotics Research
A fuzzy gain-scheduler for the attitude control of an unmanned helicopter
IEEE Transactions on Fuzzy Systems
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
An open-source navigation system for micro aerial vehicles
Autonomous Robots
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In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied environments using Monocular Visual-Inertial SLAM-based strategy. The function of this FLC aims to control the heading of Fail-Safe UAV to avoid the obstacle, e.g. wall, bridge, tree line et al, using its real-time and accurate localization information. In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the control performances. After obtained the optimal SF and MF, 64 % of rules has been reduced (from 125 rules to 45 rules), and a large number of real see-and-avoid tests with a quadcopter have done. The simulation and experiment results show that this new proposed FLC can precisely navigates the Fail-Safe UAV to avoid the obstacle, obtaining better performances compared to only SF optimization-based FLC. To our best knowledge, this is the first work to present the optimized FLC using Cross-Entropy method in both SF and MF optimization, and apply it in the UAV.