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 Thursday June 17, 2021

To view the keywords and abstract (text summary) of a paper (if available), click on the paper title
 
ThPL4L Macedonia Hall
From Optic Flow Sensors to Optic Flow Based Guidance ( Dr. Franck Ruffier ) Plenary Session
Chair: Theilliol, DidierUniversity of Lorraine
 
ThA1 Macedonia Hall
FDI and Safety Regular Session
Chair: Fourlas, George K.University of Thessaly
Co-Chair: Haaland, Ole MaxNorwegian University of Science and Technology
 
10:30-10:50, Paper ThA1.1 
Detection and Isolation of Propeller Icing and Electric Propulsionsystem Faults in Fixed-Wing UAVs

Haaland, Ole MaxNorwegian University of Science and Technology
Johansen, Tor ArneNorwegian University of Science and Technology
Gryte, KristofferNorwegian University of Science and Technology
Hann, RichardNorwegian University of Science and Technology
Wenz, Andreas WolfgangNorwegian University of Science and Technology
 
10:50-11:10, Paper ThA1.2 
Adaptation of Lazy-Theta* for UAS 3D Path Planning Considering Safety Costs

Rey, RafaelUniversidad Pablo De Olavide
Cobano, Jose AntonioUniversidad Pablo De Olavide
Merino, LuisUniversidad Pablo De Olavide
Caballero, FernandoUniversidad De Sevilla
 
11:10-11:30, Paper ThA1.3 
A Survey on Fault Diagnosis Methods for UAVs

Fourlas, George K.University of Thessaly
Karras, GeorgeUniversity of Thessaly
 
11:30-11:50, Paper ThA1.4 
Nonlinear Estimation of Sensor Faults with Unknown Dynamics for a Fixed Wing Unmanned Aerial Vehicle

Iglésis, EnzoCoventry University
Horri, NadjimCoventry University
Dahia, KarimONERA
Brusey, JamesCoventry University
Piet-Lahanier, HélèneONERA
 
11:50-12:10, Paper ThA1.5 
Safe Sampling-Based Air-Ground Rendezvous Algorithm for Complex Dense Street Maps

Barsi Haberfeld, GabrielUniversity of Illinois at Urbana-Champaign
Gahlawat, AdityaUniversity of Illinois at Urbana-Champaign
Hovakimyan, NairaUniversity of Illinois at Urbana-Champaign
 
12:10-12:30, Paper ThA1.6 
Prognostics-Informed Battery Reconfiguration in a Multi-Battery Small UAS Energy System

Sharma, PrashinUniversity of Michigan
Atkins, EllaUniversity of Michigan
 
ThA2 Kozani
Control Design I Regular Session
Chair: Rodas, JorgeUniversidad Nacional De Asunción
Co-Chair: Boukal, YassineAltran by Capgemini
 
10:30-10:50, Paper ThA2.1 
New Hybrid Fractional-Order Control-Based Disturbances Observer on of Autonomous Quadrotor Vehicles Subjected to Disturbances

Labbadi, MoussaMohammed V University in Rabat
Boudaraia, KarimaMohammed V University in Rabat
Boukal, YassineAltran by Capgemini
Zerrougui, MohamedAix Marseille University
Cherkaoui, MohamedMohammed V University in Rabat
 
10:50-11:10, Paper ThA2.2 
Flight Transition Control for Ducted Fan UAV with Saturation on Control Surfaces

Cheng, ZihuanSouth China University of Technology
Pei, Hai-LongSouth China University of Technology
 
11:10-11:30, Paper ThA2.3 
EPRL Sliding Mode Flight Controller with Model-Based Switching Manifold of a Quad-Rotor UAV

Kali, YassineEcole De Technologie Superieure
Fallaha, CharlesEcole De Technologie Superieure
Rodas, JorgeUniversidad Nacional De Asunción
Saad, MaaroufEcole De Technologie Superieure
Lesme, FernandoUniversidad Catolica Nuestra Senora De La Asuncion
 
11:30-11:50, Paper ThA2.4 
Robust Reduced-Attitude Control of Fixed-Wing UAVs Using a Generalized Multivariable Super-Twisting Algorithm

Coates, Erlend M.Norwegian University of Science and Technology
Griffiths, Jenny BogenNorwegian University of Science and Technology
Johansen, Tor ArneNorwegian University of Science and Technology
 
11:50-12:10, Paper ThA2.5 
Nonlinear Model Predictive Control Combined with Geometric Attitude and Speed Control for Fixed-Wing UAVs

Reinhardt, DirkNorwegian University of Science and Technology
Johansen, Tor ArneNorwegian University of Science and Technology
 
12:10-12:30, Paper ThA2.6 
Turbulent Wind Gusts Estimation and Compensation Via High-Gain Extended Observer-Based Adaptive Sliding Mode for a Quadrotor UAV

Miranda-Moya, ArmandoTecnologico De Monterrey
Castaneda, HermanTecnologico De Monterrey
Wang, HeshengShanghai Jiaotong University
 
ThA3 Edessa
Path Planning III Regular Session
Chair: Monteriù, AndreaUniversità Politecnica Delle Marche
Co-Chair: Skaltsis, George MariosCranfield University
 
10:30-10:50, Paper ThA3.1 
Safe Traversal Guidance for Quadrotors Using Gap Bearing Information

E K, MidhunIndian Institute of Science
Ratnoo, AshwiniIndian Institute of Science
 
10:50-11:10, Paper ThA3.2 
A Survey of Task Allocation Techniques in MAS

Skaltsis, George MariosCranfield University
Shin, Hyo-SangCranfield University
Tsourdos, AntoniosCranfield University
 
11:10-11:30, Paper ThA3.3 
A Lyapunov Guidance Vector Field Based Continuous Curvature Path Generation for Waypoint Following of UAVs

Harinarayana, TammineniIndian Institute of Technology Kharagpur
Krishnan, Siva VigneshIndian Institute of Technology Kharagpur
Hota, SikhaIndian Institute of Technology Kharagpur
Kushwaha, RahulIndian Institute of Technology Kharagpur
 
11:30-11:50, Paper ThA3.4 
Path Planning and Reactive Based Control for a Quadrotor with a Suspended Load

Corona, JoseThe Arctic University of Norway
Kristiansen, RaymondThe Arctic University of Norway
Andersen, Tom StianThe Arctic University of Norway
 
11:50-12:10, Paper ThA3.5 
3D Trajectory Planning for UAV-Based Search Missions: An Integrated Assessment and Search Planning Approach

Papaioannou, SavvasUniversity of Cyprus
Kolios, PanayiotisUniversity of Cyprus
Theocharides, TheocharisUniversity of Cyprus
Panayiotou, ChristosUniversity of Cyprus
Polycarpou, Marios M.University of Cyprus
 
12:10-12:30, Paper ThA3.6 
Real-Time On-Board Path Planning for UAS-Based Wildfire Monitoring

Islam, S.M. TowhidulGeorgia State University
Hu, XiaolinGeorgia State University
 
ThA4 Naoussa
UAS Applications I Regular Session
Chair: Nikolakopoulos, GeorgeLuleå University of Technology,
Co-Chair: Kim, DongbinUniversity of Nevada, Las Vegas
 
10:30-10:50, Paper ThA4.1 
Aerial Thermal Image Based Convolutional Neural Networks for Human Detection in SubT Environments

Koval, AntonLuleå University of Technology
Sharif Mansouri, SinaLuleå University of Technology
Kanellakis, ChristoforosLuleå University of Technology
Nikolakopoulos, GeorgeLuleå University of Technology
 
10:50-11:10, Paper ThA4.2 
Civil Infrastructure Data Acquisition in Urban Environments Based on Multi-UAV Mission

Goricanec, JuricaUniversity of Zagreb
Ivanovic, AntunUniversity of Zagreb
Markovic, LovroUniversity of Zagreb
Pavlak, IvanUniversity of Zagreb
Bogdan, StjepanUniversity of Zagreb
 
11:10-11:30, Paper ThA4.3 
Admittance Force-Based UAV-Wall Stabilization and Press Exertion for Documentation andInspection of Historical Buildings

Smrcka, DanielCzech Technical University in Prague
Baca, TomasCzech Technical University in Prague
Nascimento, TiagoUniversidade Federal Da Paraiba
Saska, MartinCzech Technical University in Prague
 
11:30-11:50, Paper ThA4.4 
Towards Robust and Efficient Plane Detection from 3D Point Cloud

Sharif Mansouri, SinaLuleå University of Technology
Kanellakis, ChristoforosLuleå University of Technology
Pourkamali-Anaraki, FarhadUniversity of Massachusetts Lowell
Nikolakopoulos, GeorgeLuleå University of Technology
 
11:50-12:10, Paper ThA4.5 
Toward Avatar-Drone: A Human-Embodied Drone for Aerial Manipulation

Kim, DongbinUniversity of Nevada, Las Vegas
Oh, PaulUniversity of Nevada, Las Vegas
 
12:10-12:30, Paper ThA4.6 
Aircraft Inspection by Multirotor UAV Using Coverage Path Planning

Silberberg, PatrickNaval School of Aviation Safety
Leishman, RobertAir Force Institute of Technology
 
ThB1 Macedonia Hall
Reliability of UAS Regular Session
Chair: Zhang, YouminConcordia University
Co-Chair: Konert, AnnaLazarski University
 
14:00-14:20, Paper ThB1.1 
Which Is the Best Real-Time Operating System for Drones? Evaluation of the Real-Time Characteristics of NuttX and ChibiOS

Zhang, MingyangKU Leuven
Timmerman, MartinDedicated Systems Experts NV
Perneel, LucDedicated Systems Experts NV
Toon, GoedeméKU Leuven
 
14:20-14:40, Paper ThB1.2 
Safely Flying BVLOS in the EU with an Unreliable UAS

Terkildsen, Kristian HusumUniversity of Southern Denmark
Schultz, Ulrik PaghUniversity of Southern Denmark
Jensen, KjeldUniversity of Southern Denmark
 
14:40-15:00, Paper ThB1.3 
Legal and Ethical Aspects of Rules for the Operation of Autonomous Unmanned Aircraft with Artificial Intelligence

Konert, AnnaLazarski University
Balcerzak, TomaszLazarski University
 
15:00-15:20, Paper ThB1.4 
Flight Test Validation and Verification of the Novel Ln Guidance for Unmanned Aerial Systems

Xu, JeffreyUniversity of Kansas
Keshmiri, ShawnUniversity of Kansas
 
15:20-15:40, Paper ThB1.5 
UAVAT Framework: UAV Auto Test Framework for Experimental Validation of Multirotor sUAS Using a Motion Capture System

Jepsen, Jes HundevadtUniversity of Southern Denmark
Terkildsen, Kristian HusumUniversity of Southern Denmark
Hasan, AgusNorwegian University of Science and Technology
Jensen, KjeldUniversity of Southern Denmark
Schultz, Ulrik PaghUniversity of Southern Denmark
 
ThB2 Kozani
Control Design II Regular Session
Chair: Sarcinelli-Filho, MárioFederal University of Espirito Santo
Co-Chair: Chowdhury, MozammalUniversity of Kansas
 
14:00-14:20, Paper ThB2.1 
Scaled Nonlinear H Infinity Control of an Aerial Manipulator

Morais Aquino, Junio EduardoFederal University of Minas Gerais
Raffo, Guilherme ViannaFederal University of Minas Gerais
 
14:20-14:40, Paper ThB2.2 
Design and Flight Test Validation of a UAS Lateral-Directional Model Predictive Controller

Chowdhury, MozammalUniversity of Kansas
Keshmiri, ShawnUniversity of Kansas
Xu, JeffreyUniversity of Kansas
 
14:40-15:00, Paper ThB2.3 
Energy-Aware Model Predictive Control with Obstacle Avoidance

Santos, Marcelo AlvesFederal University of Minas Gerais
Ferramosca, AntonioUniversity of Bergamo
Raffo, Guilherme ViannaFederal University of Minas Gerais
 
15:00-15:20, Paper ThB2.4 
Singularity-Free Quaternion Representation to Control a UGV-UAV Formation Performing Trajectory-Tracking Tasks

Marciano, HarrisonFederal University of Espirito Santo
Brandao, Alexandre SantosFederal University of Vicosa
Sarcinelli-Filho, MárioFederal University of Espirito Santo
 
15:20-15:40, Paper ThB2.5 
Robust Visual Tracking Control Based on Adaptive Sliding Mode Strategy: Quadrotor UAV - Catamaran USV Heterogeneous System

Gonzalez-Garcia, AlejandroTecnologico De Monterrey
Miranda-Moya, ArmandoTecnologico De Monterrey
Castaneda, HermanTecnologico De Monterrey
 
ThB3 Edessa
Path Planning IV Regular Session
Chair: Schwung, MichaelRuhr-Universität Bochum
Co-Chair: Lorenzo Becce, LorenzoPolitecnico Di Torino
 
14:00-14:20, Paper ThB3.1 
Minimum-Time Path Planning for Autonomous Landing of UAV on Aerial Drone Carrier

Alijani, MortezaUniversità Di Trento
Osman, AnasUniversità Di Trento
 
14:20-14:40, Paper ThB3.2 
Inspection Path Planning for Aerial Vehicles Via Sampling-Based Sequential Optimization

Shi, LipingAarhus University
Mehrooz, GolizhehUniversity of Southern Denmark
Jacobsen, RuneAarhus University
 
14:40-15:00, Paper ThB3.3 
A UAV Global Planner to Improve Path Planning in Unstructured Environments

Rocha, LidiaFederal University of São Carlos
Santos, MarcelaFederal University of São Carlos
Igor, AraújoFederal University of São Carlos
Kelen, VivaldiniFederal University of São Carlos
 
15:00-15:20, Paper ThB3.4 
Optimal Path Planning for Autonomous Spraying UAS Framework in Precision Agriculture

Becce, LorenzoPolitecnico Di Torino
Bloise, NicolettaPolitecnico Di Torino
Guglieri, GiorgioPolitecnico Di Torino
 
15:20-15:40, Paper ThB3.5 
Online Trajectory Planning with Application to an UAV Relay Station

Schwung, MichaelRuhr-Universität Bochum
Lunze, JanRuhr-Universität Bochum
 
ThB4 Naoussa
UAS Applications II Regular Session
Chair: Flores, GerardoCenter for Research in Optics, A.C
Co-Chair: Xie, WenfangConcordia University
 
14:00-14:20, Paper ThB4.1 
A UAS Equipped with a Thermal Imaging System with Temperature Calibration for Crop Water Stress Index Computation

Montes de Oca Rebolledo, AndresCenter for Research in Optics, A.C
Flores, GerardoCenter for Research in Optics, A.C
 
14:20-14:40, Paper ThB4.2 
A Multi-UAV System for Exploration and Target Finding in Cluttered and GPS-Denied Environments

Zhu, XiaolongQueensland University of Technology
Vanegas Alvarez, FernandoQueensland University of Technology
Gonzalez, Luis FelipeQueensland University of Technology (QUT)/ QUT Centre for Roboti
Sanderson, ConradData61/CSIRO
 
14:40-15:00, Paper ThB4.3 
Collaboration between Multiple UAVs for Fire Detection and Suppression

Moffatt, AndrewCalifornia State Polytechnic University, Pomona
Turcios, NicholasCalifornia State Polytechnic University, Pomona
Edwards, ChaseCalifornia State Polytechnic University, Pomona
Karnik, AtharvaCalifornia State Polytechnic University, Pomona
Kim, DavidCalifornia State Polytechnic University, Pomona
Kleinman, AndrewCalifornia State Polytechnic University, Pomona
Nguyen, HienCalifornia State Polytechnic University, Pomona
Ramos, Victor JavierCalifornia State Polytechnic University, Pomona
Earvin Ranario, EarvinCalifornia State Polytechnic University, Pomona
Sato, TomoCalifornia State Polytechnic University, Pomona
Uryeu, DzianisCalifornia State Polytechnic University, Pomona
Bhandari, SubodhCalifornia State Polytechnic University, Pomona
 
15:00-15:20, Paper ThB4.4 
Detecting and Localizing Objects on an Unmanned Aerial System (UAS) Integrated Witha Mobile Device

Kim, JinhoUnited States Military Academy
Lin, KevinUnited States Military Academy
Nogar, StephenU.S. Army Research Laboratory
Larkin, DominicUnited States Military Academy
Korpela, ChristopherUnited States Military Academy
 
15:20-15:40, Paper ThB4.5 
Forest Fire Detection and Localization Using Thermal and Visual Cameras

Sadi, MohsenConcordia University
Zhang, YouminConcordia University
Xie, WenfangConcordia University
Hossain, F. M. AnimConcordia University
 
ThPL5L Macedonia Hall
Refined Anti-Disturbance Control and Applications for UAVs: Green, Immunity
and Survival ( Prof. Lei Guo )
Plenary Session
Chair: Tsourveloudis, NikosTechnical University of Crete
 
ThC1 Macedonia Hall
Micro and Mini UAS Regular Session
Chair: Castillo, PedroUnviersité De Technologie De Compiègne
Co-Chair: Behera, LaxmidharIndian Institute of Technology Kanpur
 
17:00-17:20, Paper ThC1.1 
Least Airspeed Reduction Strategy & Flight Recuperation of a Fixed-Wing Drone

Alatorre, ArmandoUniversité De Technologie De Compiègne
Castillo, PedroUniversité De Technologie De Compiègne
Lozano, RogelioUniversité De Technologie De Compiègne
 
17:20-17:40, Paper ThC1.2 
MicroBrosh UAV: A Basic Risk Operation Self Handled Platform

Lucena, AlyssonUniversidade Federal Do Rio Grande Do Norte
Goncalves, Luiz M. G.Universidade Federal Do Rio Grande Do Norte
 
17:40-18:00, Paper ThC1.3 
Sum of Square Based Event-Triggered Control of Nano-Quadrotor in Presence of Packet Dropouts

Singh, PadminiIndian Institute of Technology Kanpur
Gupta, SandeepIndian Institute of Technology Kanpur
Behera, LaxmidharIndian Institute of Technology Kanpur
Verma, Nishchal KumarIndian Institute of Technology Kanpur
 
18:00-18:20, Paper ThC1.4 
The MiniHawk-VTOL: Design, Modeling, and Experiments of a Rapidly-Prototyped Tiltrotor UAV

Carlson, StephenUniversity of Nevada, Reno
Papachristos, ChristosUniversity of Nevada, Reno
 
18:20-18:40, Paper ThC1.5 
Extinguishing of Ground Fires by Fully Autonomous UAVs Motivated by the MBZIRC 2020 Competition

Walter, ViktorCzech Technical University in Prague
Spurny, VojtechCzech Technical University in Prague
Petrlik, MatejCzech Technical University in Prague
Baca, TomasCzech Technical University in Prague
Žaitlík, DavidCzech Technical University in Prague
Saska, MartinCzech Technical University in Prague
 
ThC2 Kozani
Control Design III Regular Session
Chair: Zhang, YouminConcordia University
Co-Chair: Osborne, Matthew HewittCranfield University
 
17:00-17:20, Paper ThC2.1 
A Review of Safe Online Learning for Nonlinear Control Systems

Osborne, Matthew HewittCranfield University
Shin, Hyo-SangCranfield University
Tsourdos, AntoniosCranfield University
 
17:20-17:40, Paper ThC2.2 
Cooperative Aerial Slung Load Transportation Using a Novel Adaptive Sliding Mode Controller

N. S., AbhinayTata Consultancy Services Ltd
Shobhit, ShubhankarTata Consultancy Services Ltd
Sridhar, NithyaTata Consultancy Services Ltd
Das, KaushikTata Consultancy Services Ltd
 
17:40-18:00, Paper ThC2.3 
Integrated Guidance and Control for Autonomous Rendezvous of Unmanned Aerial Vehicle During Aerial Refueling

Zhao, WenbiNorthwestern Polytechnical University
Duan, YouNorthwestern Polytechnical University
Yu, ZiquanNanjing University of Aeronautics and Astronautics
Qu, YaohongNorthwestern Ploytechnical University
Zhang, YouminConcordia University
 
18:00-18:20, Paper ThC2.4 
Flatness-Based Control of a Gimballed Fixed-Wing UAS

Morgan, HaydenBrigham Young University
Beard, Randal W.Brigham Young University
 
18:20-18:40, Paper ThC2.5 
An Ellipsoidal-Polytopic Based Approach for Aggressive Navigation Using Nonlinear Model Predictive Control

Pereira, Jean CarlosCEFET-MG/Campus Divinopolis
Leite, Valter J. S.CEFET-MG/Campus Divinopolis
Raffo, Guilherme ViannaFederal University of Minas Gerais
 
ThC3 Edessa
Path Planning V Regular Session
Chair: Tanner, Herbert G.University of Delaware
Co-Chair: Eslamiat, HosseinSouthern Illinois University Carbondale
 
17:00-17:20, Paper ThC3.1 
Exact Reactive Receding Horizon Motion Planning for Aerial Vehicles

Yadav, IndrajeetUniversity of Delaware
Tanner, Herbert G.University of Delaware
 
17:20-17:40, Paper ThC3.2 
Discrete Time Optimal Trajectory Generation and Transversality Condition with Free Final Time

Eslamiat, HosseinSouthern Illinois University Carbondale
Sanyal, AmitSyracuse University
Lindsay, ClarkSouthern Illinois University Carbondale
 
17:40-18:00, Paper ThC3.3 
Curvature-Constrained Vector Field for Path Following Guidance

Shivam, AmitIndian Institute of Science
Ratnoo, AshwiniIndian Institute of Science
 
18:00-18:20, Paper ThC3.4 
NMPC-Based UAV 3D Target Tracking in the Presence of Obstacles and Visibility Constraints

Tyagi, PrakritDelhi Technological University
Kumar, YogeshIIIT Delhi
Baliyarasimhuni, Sujit P.IISER Bhopal
 
18:20-18:40, Paper ThC3.5 
MK-RRT*: Multi-Robot Kinodynamic RRT* Trajectory Planning

Cain, BrennanUniversity of South Carolina
Kalaitzakis, MichailUniversity of South Carolina
Vitzilaios, NikolaosUniversity of South Carolina
 
ThC4 Naoussa
UAS Applications III Regular Session
Chair: Vitzilaios, NikolaosUniversity of South Carolina
Co-Chair: Castaneda, HermanTecnologico De Monterrey
 
17:00-17:20, Paper ThC4.1 
3D Multi-Camera Coverage Control of Unmanned Aerial Multirotors

Huang, SunanNational Universtiy of Singapore
Leong, Wai LunNational University of Singapore
Teo, S. H.National Universtiy of Singapore
 
17:20-17:40, Paper ThC4.2 
Visual Rotational Constraints of General UAS Configurations

Morgan, HaydenBrigham Young University
Beard, Randal W.Brigham Young University
 
17:40-18:00, Paper ThC4.3 
UAS Sensor Deployment and Retrieval to the Underside of Structures

Carroll, SabrinaUniversity of South Carolina
Kalaitzakis, MichailUniversity of South Carolina
Vitzilaios, NikolaosUniversity of South Carolina
 
18:00-18:20, Paper ThC4.4 
Payload Swing Attenuation of a Fully-Actuated Hexacopter Via Extended High Gain Observer Based Adaptive Sliding Control

Arizaga-Leon, Jorge ManuelTecnologico De Monterrey
Castaneda, HermanTecnologico De Monterrey
Castillo, PedroUnviersité De Technologie De Compiègne
 
18:20-18:40, Paper ThC4.5 
A Distributed Task Allocation Protocol for Cooperative Multi-UAV Search and Rescue Systems

Pignaton de Freitas, EdisonFederal University of Rio Grande Do Sul
Basso, MaikFederal University of Rio Grande Do Sul
Arlis Santos da Silva, AntonioFederal University of Rio Grande Do Sul
Schein, Mateus ScheinFederal University of Rio Grande Do Sul
Rodrigues Vizzotto, MarcosFederal University of Rio Grande Do Sul

 
 

 
 

 

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