ICUAS'21
The 2021 International Conference on
Unmanned Aircraft Systems

Divani Caravel Hotel
June 15-18, 2021, Athens, Greece
  
Program at a Glance    Tuesday    Wednesday    Thursday    Friday    Author Index    Keyword Index  

Last updated on June 19, 2021. This conference program is tentative and subject to change

Technical Program for Wednesday June 16, 2021

To view the keywords and abstract (text summary) of a paper (if available), click on the paper title
 
WePL1L Macedonia Hall
Mitigation of Inflight Icing on Unmanned Aerial Vehicles ( Prof. Tor Arne
Johansen )
Plenary Session
Chair: Monteri¨, AndreaUniversitÓ Politecnica Delle Marche
 
WeA1 Macedonia Hall
Fault-Tolerant Control Regular Session
Chair: Freddi, AlessandroUniversitÓ Politecnica Delle Marche
Co-Chair: Cristofaro, AndreaSapienza UniversitÓ Di Roma
 
10:30-10:50, Paper WeA1.1 
Fault-Tolerant Formation Control of a Team of Quadrotors with a Suspended Payload

Saiella, LorenzoSapienza UniversitÓ Di Roma
Cristofaro, AndreaSapienza UniversitÓ Di Roma
Ferro, MarcoSapienza UniversitÓ Di Roma
Vendittelli, MarilenaSapienza UniversitÓ Di Roma
 
10:50-11:10, Paper WeA1.2 
Adaptive Control of Unmanned Quadrotor with Partial Actuator Failure Using Model Reference Adaptive Control (MRAC) with Dynamic Inversion

Agarwal, AnmolTechnical University of Munich
Ng, Ee MengNanyang Technological University
Low, Kin HuatNanyang Technological University
 
11:10-11:30, Paper WeA1.3 
Disturbance Observer Based Fault Tolerant Control for Tilted Hexarotors

Baldini, AlessandroUniversitÓ Politecnica Delle Marche
Felicetti, RiccardoUniversitÓ Politecnica Delle Marche
Freddi, AlessandroUniversitÓ Politecnica Delle Marche
Longhi, SauroUniversitÓ Politecnica Delle Marche
Monteri¨, AndreaUniversitÓ Politecnica Delle Marche
 
11:30-11:50, Paper WeA1.4 
A Preliminary Parametric Analysis of PID Delay-Based Controllers for Quadrotor UAVs

Castillo Zamora, Jose de JesusUniversity Paris Saclay & IPSA
Hernßndez-DÝez, JosÚ EnriqueUniversidad Autˇnoma De San Luis PotosÝ
Boussaada, IslamUniversity Paris Saclay & IPSA
Escareno Castro, Juan AntonioXLIM Research Institute, University of Limoges
Alvarez Mu˝oz, Jonatan UzielEXTIA
 
11:50-12:10, Paper WeA1.5 
Multirotor Fault Tolerance Based on Center-Of-Mass Shifting in Case of Rotor Failure

Pose, Claudio DanielUniversidad De Buenos Aires
Giribet, Juan IgnacioUniversidad De San AndrÚs
 
12:10-12:30, Paper WeA1.6 
Adaptive Fault-Tolerant Control of Fixed-Wing UAV under Actuator Saturation and State Constraints

Fu, MinruiNanjing University of Aeronautics and Astronautics
Yu, ZiquanNanjing University of Aeronautics and Astronautics
Zhang, YouminConcordia University
 
WeA2 Kozani
Learning Methods I Regular Session
Chair: Orsag, MatkoUniversity of Zagreb
Co-Chair: Dezan, CatherineUniversitÚ De Bretagne Occidentale
 
10:30-10:50, Paper WeA2.1 
Area Surveillance Using a UAV with Mounted Chaotic Camera

Kafetzis, IoannisAristotle University of Thessaloniki
Moysis, LazarosAristotle University of Thessaloniki
Volos, ChristosAristotle University of Thessaloniki
Stouboulos, IoannisAristotle University of Thessaloniki
Valavanis, Kimon P.University of Denver
 
10:50-11:10, Paper WeA2.2 
Identification of Drone Thermal Signature by Convolutional Neural Network

Chong, Yu QuanNational University of Singapore
Ong, EdmondNational University of Singapore
Srigrarom, SutthiphongNational University of Singapore
 
11:10-11:30, Paper WeA2.3 
Simultaneous Learning and Planning Using Rapidly Exploring Random Tree* and Reinforcement Learning

Sadhu, Arup KumarTata Consultancy Services Ltd
Shukla, ShubhamTata Consultancy Services Ltd
Sortee, SarveshTata Consultancy Services Ltd
Ludhiyani, MohitTata Consultancy Services Ltd
Dasgupta, RanjanTata Consultancy Services Ltd
 
11:30-11:50, Paper WeA2.4 
Detection of Objects on the Ocean Surface from a UAV with Visual and Thermal Cameras: A Machine Learning Approach

Arnegaard, Ola TranumNorwegian University of Science and Technology
Stendahl Leira, FrederikNorwegian University of Science and Technology
Helgesen, Hňkon HagenNorwegian University of Science and Technology
Kemna, StephanieMaritime Robotics AS
Johansen, Tor ArneNorwegian University of Science and Technology
 
11:50-12:10, Paper WeA2.5 
Event-Based Human Intrusion Detection in UAS Using Deep Learning

PÚrez-Cuti˝o, Miguel AngelUniversidad De Sevilla
Gˇmez EguÝluz, AugustoUniversidad De Sevilla
Martinez-de Dios, J.R.Universidad De Sevilla
Ollero, AnibalUniversidad De Sevilla
 
12:10-12:30, Paper WeA2.6 
Comparison of Value Iteration, Policy Iteration and Q-Learning for Solving Decision-Making Problems

Hamadouche, MohandUniversitÚ De Bretagne Occidentale
Dezan, CatherineUniversitÚ De Bretagne Occidentale
Espes, DavidUniversitÚ De Bretagne Occidentale
Branco, Kalinka Regina Lucas Jaquie CasteloUniversity of SŃo Paulo
 
WeA3 Edessa
Path Planning I Regular Session
Chair: Primatesta, StefanoPolitecnico Di Torino
Co-Chair: Pinto, JoaoInstituto Superior TÚcnico
 
10:30-10:50, Paper WeA3.1 
Model Predictive Sample-Based Motion Planning for Unmanned Aircraft Systems

Primatesta, StefanoPolitecnico Di Torino
Pagliano, AlessandroPolitecnico Di Torino
Guglieri, GiorgioPolitecnico Di Torino
Rizzo, AlessandroPolitecnico Di Torino
 
10:50-11:10, Paper WeA3.2 
Three Dimensional Optimal Path Generation and Tracking for Quadrotors in Dynamic Environment

Ravichandran, HariharanIndian Institute of Technology Kharagpur
Yadla, SiddarthIndian Institute of Technology Kharagpur
Hota, SikhaIndian Institute of Technology Kharagpur
 
11:10-11:30, Paper WeA3.3 
Lyapunov Vector Field Based Guidance Algorithm for Standoff Target Tracking by Formation Flight

Gopalabhatla, AvinashIndian Institute of Technology Kharagpur
Tammineni, HarinarayanaIndian Institute of Technology Kharagpur
Hota, SikhaIndian Institute of Technology Kharagpur
 
11:30-11:50, Paper WeA3.4 
Planning Parcel Relay Manoeuvres for Quadrotors

Pinto, JoaoInstituto Superior TÚcnico
Guerreiro, Bruno J. N.NOVA School of Science and Technology
Cunha, RitaInstituto Superior TÚcnico
 
11:50-12:10, Paper WeA3.5 
Dubins-Based Autolanding Procedure for Fixed-Wing UAS

Xu, JeffreyUniversity of Kansas
Keshmiri, ShawnUniversity of Kansas
 
12:10-12:30, Paper WeA3.6 
Cooperative Route Planning of Multiple Fuel-Constrained Unmanned Aerial Vehicles with Recharging on an Unmanned Ground Vehicle

Ramasamy, SubramanianUniversity of Illinois at Chicago
Reddinger, Jean-PaulArmy Research Lab
Dotterweich, JamesArmy Research Lab
Childers, MarshalArmy Research Lab
Bhounsule, PranavUniversity of Illinois at Chicago
 
WeA4 Naoussa
Sensor Fusion I Regular Session
Chair: Rizzo, AlessandroPolitecnico Di Torino
Co-Chair: Alparslan, OnderNational Defense University Hezarfen
 
10:30-10:50, Paper WeA4.1 
Vision-Aided State Estimator for Positioning UAVs

Hu, XiaoTechnical University of Denmark
Olesen, DanielTechnical University of Denmark
Knudsen, PerTechnical University of Denmark
 
10:50-11:10, Paper WeA4.2 
Fast and Effective Identification of Window and Door Openings for UAVsĺ Indoor Navigation

Alparslan, OnderNational Defense University Hezarfen
Cetin, OmerNational Defense University Hezarfen
 
11:10-11:30, Paper WeA4.3 
Fast Adaptive Complementary Filter for Quadrotor Attitude Estimation During Aggressive Maneuvers

Peng, RuiThe University of Hong Kong
Lu, PengThe University of Hong Kong
 
11:30-11:50, Paper WeA4.4 
Feedback State Estimation for Multi-Rotor Drones Stabilisation Using Low-Pass Filter and a Complementary Kalman Filter

Kangunde, VememaBotswana International University of Science and Technology
Mohutsiwa, Lucky OdirileBotswana International University of Science and Technology
Jamisola, Rodrigo S. Jr.Botswana International University of Science and Technology
 
11:50-12:10, Paper WeA4.5 
On the Development of a Tether-Based Drone Localization System

Lima, RogerioWest Virginia University
Pereira, GuilhermeWest Virginia University
 
12:10-12:30, Paper WeA4.6 
Velocity Estimation for UAVs Using Ultra Wide-Band System

Safaei, AliMcGill University
Sharf, InnaMcGill University
 
WeB1 Macedonia Hall
Navigation Regular Session
Chair: Saska, MartinCzech Technical University in Prague
Co-Chair: Bryne, Torleiv HňlandNorwegian University of Science and Technology
 
14:00-14:20, Paper WeB1.1 
Phased Array Radio Navigation System on UAVs: GNSS-Based Calibration in the Field

Okuhara, MikaNorwegian University of Science and Technology
Bryne, Torleiv HňlandNorwegian University of Science and Technology
Gryte, KristofferNorwegian University of Science and Technology
Johansen, Tor ArneNorwegian University of Science and Technology
 
14:20-14:40, Paper WeB1.2 
Snake-SLAM: Efficient Global Visual Inertial SLAM Using Decoupled Nonlinear Optimization

RŘckert, DariusUniversity of Erlangen-Nuremberg
Stamminger, MarcUniversity of Erlangen-Nuremberg
 
14:40-15:00, Paper WeB1.3 
Real-Time Relative Positioning System Implementation Employing Signals of Opportunity, Inertial, and Optical Flow Modalities

Souli, NicolasUniversity of Cyprus
Makrigiorgis, RafaelUniversity of Cyprus
Kolios, PanayiotisUniversity of Cyprus
Ellinas, GeorgiosUniversity of Cyprus
 
15:00-15:20, Paper WeB1.4 
Development and Implementation of a New Flight Mode Called Cartesian Flight Mode for Easy Piloting of Muli-Rotor UAVs

Flores, AlejandroCenter for Research in Optics, A.C
Flores, GerardoCenter for Research in Optics, A.C
 
15:20-15:40, Paper WeB1.5 
LIDAR-Based Stabilization, Navigation and Localization for UAVs Operating in Dark Indoor Environments

Petrlik, MatejCzech Technical University in Prague
Krajnik, TomasCzech Technical University in Prague
Saska, MartinCzech Technical University in Prague
 
WeB2 Kozani
Learning Methods II Regular Session
Chair: Alqahtani, SarraWake Forest University
Co-Chair: Ide, Jaime, S.Yale University & Lockheed Martin
 
14:00-14:20, Paper WeB2.1 
Deep Learning Assisted Visual Tracking of Evader-UAV

Tsoukalas, AthanasiosNew York University Abu Dhabi
Xing, DaitaoNew York University
Evangeliou, NikolaosNew York University Abu Dhabi
Giakoumidis, NikolaosNew York University Abu Dhabi
Tzes, AnthonyNew York University Abu Dhabi
 
14:20-14:40, Paper WeB2.2 
Overriding Learning-Based Perception Systems for Control of Autonomous Unmanned Aerial Vehicles

Patel, Naman KamleshbhaiNYU Tandon School of Engineering
Krishnamurthy, PrashanthNYU Tandon School of Engineering
Tzes, AnthonyNew York University Abu Dhabi
Khorrami, FarshadNYU Tandon School of Engineering
 
14:40-15:00, Paper WeB2.3 
Deep Reinforcement Learning for Adaptive Exploration of Unknown Environments

Peake, AshleyWake Forest University
McCalmon, JoeWake Forest University
Zhang, YixinWake Forest University
Myers,, DanielWake Forest University
Alqahtani, SarraWake Forest University
Pauca, PaulWake Forest University
 
15:00-15:20, Paper WeB2.4 
Hierarchical Reinforcement Learning for Air-To-Air Combat

Pope, Adrian, PPrimordial Labs
Ide, Jaime, S.Yale University & Lockheed Martin
Micovic, DariaLockheed Martin
Diaz, HenryLockheed Martin
Rosenbluth, DavidLockheed Martin
Ritholtz, LeeLockheed Martin
Twedt, JasonLockheed Martin
Walker, ThayneUniversity of Denver & Lockheed Martin
Alcedo, KevinLockheed Martin
Javorsek, DanielUS Airforce
 
15:20-15:40, Paper WeB2.5 
Temporal-Logic-Constrained Hybrid Reinforcement Learning to Perform Optimal Aerial Monitoring with Delivery Drones

Asarkaya, AhmetUniversity of Minnesota
Aksaray, DeryaUniversity of Minnesota
Yazicioglu, YasinUniversity of Minnesota
 
WeB3 Edessa
Path Planning II Regular Session
Chair: Bertrand, SylvainONERA
Co-Chair: Satler, MassimoScuola Superiore Sant'Anna
 
14:00-14:20, Paper WeB3.1 
Formation Tracking of Target Moving on Natural Surfaces

Nadour, HousseyneGipsa-Lab, CNRS
Marchand, NicolasGipsa-Lab, CNRS
Reveret, LionelINRIA
Legneur, PierreUniversity Lyon I
 
14:20-14:40, Paper WeB3.2 
Deployment Optimization of a Fleet of Drones for Routine Inspection of Networks of Linear Infrastructures

Petitprez, EtienneONERA
Georges, FredericONERA
Raballand, NicolasONERA
Bertrand, SylvainONERA
 
14:40-15:00, Paper WeB3.3 
Planning Approach Trajectories to Enable Late Aborts for Fixed-Wing UAV Recovery on Ships

Sollie, Martin LysvandNorwegian University of Science and Technology
Johansen, Tor ArneNorwegian University of Science and Technology
 
15:00-15:20, Paper WeB3.4 
Efficient Online Jerk-Limited Trajectory Generation for Multicopters Using Barrier Functions

Zaini, Abdul HanifNanyang Technological University
Cao, KunNanyang Technological University
Xie, LihuaNanyang Technological University
 
15:20-15:40, Paper WeB3.5 
An Efficient Object-Oriented Exploration Algorithm for Unmanned Aerial Vehicles

Herrera Alarcon, Edwin PaulScuola Superiore Sant'Anna
Bagheri, DavideScuola Superiore Sant'Anna
Baris, GabrieleScuola Superiore Sant'Anna
Mugnai, MichaelScuola Superiore Sant'Anna
Satler, MassimoScuola Superiore Sant'Anna
Avizzano, Carlo AlbertoScuola Superiore Sant'Anna
 
WeB4 Naoussa
Sensor Fusion II Regular Session
Chair: Milutinovic, DejanUniversity of California, Santa Cruz
Co-Chair: Malle, Nicolaj Haarh°jUniversity of Southern Denmark
 
14:00-14:20, Paper WeB4.1 
Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

Baca, TomasCzech Technical University in Prague
Stibinger, PetrCzech Technical University in Prague
Doubravova, DanielaAdvacam, S.r.o
Turecek, DanielAdvacam, S.r.o
Solc, JaroslavCzech Metrology Institute
Rusnak, JanCzech Technical University in Prague
Saska, MartinCzech Technical University in Prague
Jakubek, JanAdvacam, S.r.o
 
14:20-14:40, Paper WeB4.2 
Interacting Multiple Model Filter Based Autonomous Landing Considering Camera Model Uncertainty

Jeong, Hyeon-MunKorea Advanced Institute of Science and Technology
Lee, Woo-CheolKorea Advanced Institute of Science and Technology
Choi, Han-LimKorea Advanced Institute of Science and Technology
 
14:40-15:00, Paper WeB4.3 
Monte-Carlo Localization for Aerial Robots Using 3D LiDAR and UWB Sensing

Carrasco, PalomaAdvanced Center for Aerospace Technologies (FADA-CATEC)
Cuesta, FranciscoAdvanced Center for Aerospace Technologies (FADA-CATEC)
Caballero Gonzßlez, RafaelAdvanced Center for Aerospace Technologies (FADA-CATEC)
Perez-Grau, Francisco JavierAdvanced Center for Aerospace Technologies (FADA-CATEC)
Viguria, AntidioAdvanced Center for Aerospace Technologies (FADA-CATEC)
 
15:00-15:20, Paper WeB4.4 
Survey and Evaluation of Sensors for Overhead Cable Detection Using UAVs

Malle, Nicolaj Haarh°jUniversity of Southern Denmark
Nyboe, Frederik FalkUniversity of Southern Denmark
Ebeid, Emad Samuel MalkiUniversity of Southern Denmark
 
15:20-15:40, Paper WeB4.5 
Relative Spherical-Visual Localization for Cooperative Unmanned Aerial Systems

Holter, SteffenNew York University Abu Dhabi
Tsoukalas, AthanasiosNew York University Abu Dhabi
Evangeliou, NikolaosNew York University Abu Dhabi
Giakoumidis, NikolaosNew York University Abu Dhabi
Tzes, AnthonyNew York University Abu Dhabi
 
WePL2L Macedonia Hall
Resilient Fault-Tolerant Control for Multiagent UAV in Formations:
Reinforcement Learning for Robust Synchronization ( Prof. Frank L.
Lewis )
Plenary Session
Chair: Orsag, MatkoUniversity of Zagreb
 
WePL3L Macedonia Hall
An Around-The-World Review of Drone Regulations ( Colonel Dawn M.K. Zoldi ) Plenary Session
Chair: Valavanis, Kimon P.University of Denver

 
 

 
 

 

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