AggieAir Flying Circus - Publications

Publications

Author	Title	Year	Journal/Proceedings	Reftype	DOI/URL
Barfuss, S.L., Jensen, A. and Clemens, S.	Evaluation and Development of Unmanned Aircraft (UAV) for UDOT Needs [BibTeX]	2012		techreport
BibTeX: @techreport{barfuss2012evaluation, author = {Barfuss, Steven L and Jensen, Austin and Clemens, Shannon}, title = {Evaluation and Development of Unmanned Aircraft (UAV) for UDOT Needs}, year = {2012} }
Baumann, M.	Imager development and image processing for small UAV-based real-time multispectral remote sensing [BibTeX]	2007	School: Hochschule Ravensburg-Weingarten University of Applied Sciences and Utah State University	mastersthesis
BibTeX: @mastersthesis{Baumann2007, author = {Baumann, Marc}, title = {Imager development and image processing for small UAV-based real-time multispectral remote sensing}, school = {Hochschule Ravensburg-Weingarten University of Applied Sciences and Utah State University}, year = {2007} }
Chao, H.	Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles [Abstract] [BibTeX]	2010	School: Utah State University	phdthesis
Abstract: This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the remote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral flight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with further flight test results. Given the measurements from unmanned vehicles, the actuation algorithms are needed for missions like the diffusion control. A consensus-based central Voronoi tessellation (CVT) algorithm is proposed for better control of the diffusion process. Finally, the dissertation conclusion and some new research suggestions are presented.
BibTeX: @phdthesis{Chao2010d, author = {Chao, Haiyang}, title = {Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles}, school = {Utah State University}, year = {2010} }
Chao, H., Baumann, M., Jensen, A., Chen, Y., Cao, Y., Ren, W. and McKee, M.	Band-reconfigurable Multi-UAV-Based Cooperative Remote Sensing for Real-Time Water Management and Distributed Irrigation Control [Abstract] [BibTeX]	2008	In Proceedings of the IFAC World Congress	inproceedings	URL
Abstract: This paper presents an overview of ongoing research on small unmanned autonomous vehicles (UAVs) for cooperative remote sensing for real-time water management and irrigation control. Small UAVs can carry embedded cameras with different wavelength bands, which are low-cost but have high spatial-resolution. These imagers mounted on UAVs can form a camera array to perform multispectral imaging with reconfigurable bands dependent on mission. Development of essential subsystems, such as the UAV platforms, embedded multispectral imagers, and image stitching and registration, is introduced together with real UAV flight test results of one typical example mission.
BibTeX: @inproceedings{Chao2008, author = {Chao, Haiyang and Baumann, Marc and Jensen, Austin and Chen, YangQuan and Cao, Yongcan and Ren, Wei and McKee, Mac}, title = {Band-reconfigurable Multi-UAV-Based Cooperative Remote Sensing for Real-Time Water Management and Distributed Irrigation Control}, booktitle = {In Proceedings of the IFAC World Congress}, year = {2008}, url = {http://www.ifac-papersonline.net/Detailed/37674.html} }
Chao, H., Cao, Y. and Q.Chen, Y.	Autopilots for Small Fixed Wing Small Unmanned Air Vehicles: a Survey [BibTeX]	2007	Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, pp. 3144-3149	inproceedings	DOI
BibTeX: @inproceedings{Chao2007, author = {Chao, H and Cao, Y and Y.Q.Chen}, title = {Autopilots for Small Fixed Wing Small Unmanned Air Vehicles: a Survey}, booktitle = {Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation}, year = {2007}, pages = {3144--3149}, doi = {http://dx.doi.org/10.1109/ICMA.2007.4304064} }
Chao, H., Cao, Y. and Chen, Y.	Autopilots for small unmanned aerial vehicles: A survey [BibTeX]	2010	International Journal of Control, Automation and Systems Vol. 8, pp. 36-44	article	URL
BibTeX: @article{Chao2010c, author = {Chao, HaiYang and Cao, YongCan and Chen, YangQuan}, title = {Autopilots for small unmanned aerial vehicles: A survey}, journal = {International Journal of Control, Automation and Systems}, publisher = {The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engineers , co-published with Springer-Verlag GmbH}, year = {2010}, volume = {8}, pages = {36--44}, url = {http://dx.doi.org/10.1007/s12555-010-0105-z} }
Chao, H. and Chen, Y.	Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles [BibTeX]	2012	, pp. 232	book
BibTeX: @book{Chao2012, author = {Chao, Haiyang and Chen, YangQuan}, title = {Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles}, publisher = {Wiley-IEEE Press}, year = {2012}, pages = {232} }
Chao, H. and Chen, Y.	Surface wind profile measurement using multiple small unmanned aerial vehicles [BibTeX]	2010	Proc. American Control Conf. (ACC), pp. 4133-4138	inproceedings	URL
BibTeX: @inproceedings{Chao2010, author = {Chao, Haiyang and Chen, YangQuan}, title = {Surface wind profile measurement using multiple small unmanned aerial vehicles}, booktitle = {Proc. American Control Conf. (ACC)}, year = {2010}, pages = {4133--4138}, url = {http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=5530609&queryTextDSurface+wind+profile+measurement+using+multiple+small+unmanned+aerial+vehicles6openedRefinementsD*6searchFieldDSearch+All} }
Chao, H., Coopmans, C., Di, L. and Chen, Y.	A comparative evaluation of low-cost IMUs for unmanned autonomous systems [Abstract] [BibTeX]	2010	Proc. of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 211-216	inproceedings
Abstract: Inertial measurement units (IMUs) are widely used for navigation and calibration purposes on unmanned autonomous vehicles. This paper provides a comparative survey and evaluation of the low-cost IMUs focusing on both the possible sensor packages and the available software solutions. Several example IMUs are compared in detail including inertial only IMUs, GPS-coupled IMUs, and hobbyist-level IMUs. The future direction of low-cost IMUs are discussed including optical-flow-based solutions and collaborative IMUs.
BibTeX: @inproceedings{Chao2010a, author = {Chao, Haiyang and Coopmans, Calvin and Di, Long and Chen, YangQuan}, title = {A comparative evaluation of low-cost IMUs for unmanned autonomous systems}, booktitle = {Proc. of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems}, year = {2010}, pages = {211--216} }
Chao, H., Jensen, A.M., Han, Y., Chen, Y. and McKee, M.	Advances in Geoscience and Remote Sensing [BibTeX]	2009	Advances in Geoscience and Remote Sensing, pp. 463-489	incollection	URL
BibTeX: @incollection{Chao2009a, author = {Chao, Haiyang and Jensen, Austin M. and Han, Yiding and Chen, YangQuan and McKee, Mac}, title = {Advances in Geoscience and Remote Sensing}, booktitle = {Advances in Geoscience and Remote Sensing}, publisher = {INTECH}, year = {2009}, pages = {463--489}, url = {http://sciyo.com/articles/show/title/aggieair-towards-low-cost-cooperative-multispectral-remote-sensing-using-small-unmanned-aircraft-sys} }
Chao, H., Luo, Y., Di, L. and Chen, Y.Q.	Roll-channel fractional order controller design for a small fixed-wing unmanned aerial vehicle [BibTeX]	2010	Control Engineering Practice Vol. 18(7), pp. 761-772	article	DOI
BibTeX: @article{Chao2010b, author = {Chao, Haiyang and Luo, Ying and Di, Long and Chen, Yang Quan}, title = {Roll-channel fractional order controller design for a small fixed-wing unmanned aerial vehicle}, journal = {Control Engineering Practice}, year = {2010}, volume = {18}, number = {7}, pages = {761--772}, doi = {http://dx.doi.org/10.1016/j.conengprac.2010.02.003} }
Chao, H., Luo, Y., Long, D. and Chen, Y.	Fractional Order Flight Control of a Small Fixed-Wing UAV: Controller Design and Simulation Study [BibTeX]	2009	Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings	DOI
BibTeX: @inproceedings{Chao2009, author = {Chao, Haiyang and Luo, Ying and Long, Di and Chen, YangQuan}, title = {Fractional Order Flight Control of a Small Fixed-Wing UAV: Controller Design and Simulation Study}, booktitle = {Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2009}, doi = {http://dx.doi.org/10.1115/DETC2009-87574} }
Chen, D., Chen, Y. and Sheng, H.	Fractional Variational Optical Flow Model for Motion Estimation [BibTeX]	2010	In Proceedings of the 4th IFAC Workshop on Fractional Differentiation and Its Applications	inproceedings
BibTeX: @inproceedings{Chen2010, author = {Chen, Dali and Chen, YangQuan and Sheng, Hu}, title = {Fractional Variational Optical Flow Model for Motion Estimation}, booktitle = {In Proceedings of the 4th IFAC Workshop on Fractional Differentiation and Its Applications}, year = {2010} }
Cheron, C., Dennis, A., Semerjyan, V. and Chen, Y.	A multifunctional HIL testbed for multirotor VTOL UAV actuator [Abstract] [BibTeX]	2010	Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, pp. 44-48	inproceedings	DOI URL
Abstract: Application driven multirotor UAV design becomes an emerging challenge as missions' needs require improved performance. In this paper, a multifunctional identification and control testbed for UAV actuators is introduced. Brushless controllers, motors and propeller pairs need to be chosen precisely to achieve optimal performance. Accurate identification of intrinsic parameters of those actuators and their comparison allow the engineer to decide between choosing existing parts or designing their own. Furthermore, we introduce a real-time MATLAB interface that allows to reduce implementation time when developing brushless motors control algorithms.
BibTeX: @inproceedings{Cheron2010, author = {Cheron, Corentin and Dennis, Aaron and Semerjyan, Vardan and Chen, YangQuan}, title = {A multifunctional HIL testbed for multirotor VTOL UAV actuator}, booktitle = {Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications}, publisher = {IEEE}, year = {2010}, pages = {44--48}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&arnumber=5552032}, doi = {http://dx.doi.org/10.1109/MESA.2010.5552032} }
Clemens, S.	Procedures for Correcting Digital Camera Imagery Acquired by the AggieAir Remote Sensing Platform [Abstract] [BibTeX]	2012	, pp. 58School: Utah State University	phdthesis	URL
Abstract: Developments in sensor technologies have made consumer-grade digital cameras one of the more recent tools in remote sensing applications. Consumer-grade digital cameras have been the imaging sensor of choice by researchers due to their small size, light weight, limited power requirements, and their potential to store hundreds of images (Hardin 2011). Several studies have focused on the use of digital cameras and their efficacy in remote sensing applications. For satellite and airborne multispectral imaging systems, there is a well established radiometric processing approach. However, radiometric processing lines for digital cameras are currently being researched. The goal of this report is to describe an absolute method of radiometric normalization that converts digital numbers output by the camera to reflectance values that can be used for remote sensing applications. This process is used at the AggieAir Flying Circus (AAFC), a service center at the Utah Water Research Laboratory at Utah State University. The AAFC is a research unit that specializes in the acquisition, processing, and interpretation of aerial imagery obtained with the AggieAir TM platform. AggieAir is an autonomous, unmanned aerial vehicle system thatvi captures multi-temporal and multispectral high resolution imagery for the production of orthorectified mosaics. The procedure used by the AAFC is based on methods adapted from Miura and Huete (2009), Crowther (1992) and Neale and Crowther (1994) for imagery acquired with Canon PowerShot SX100 cameras. Absolute normalization requires ground measurements at the time the imagery is acquired. In this study, a barium sulfate reflectance panel with absolute reflectance is used. The procedure was demonstrated using imagery captured from a wetland near Pleasant Grove, Utah, that is managed by the Utah Department of Transportation.
BibTeX: @phdthesis{Clemens2012, author = {Clemens, Shannon}, title = {Procedures for Correcting Digital Camera Imagery Acquired by the AggieAir Remote Sensing Platform}, school = {Utah State University}, year = {2012}, pages = {58}, url = {http://digitalcommons.usu.edu/gradreports/186} }
Coopmans, C.	AggieNav: A Small, Well Integrated Navigation Sensor System for Small Unmanned Aerial Vehicles [BibTeX]	2009	Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings	DOI
BibTeX: @inproceedings{Coopmans2009a, author = {Coopmans, Calvin}, title = {AggieNav: A Small, Well Integrated Navigation Sensor System for Small Unmanned Aerial Vehicles}, booktitle = {Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2009}, doi = {http://dx.doi.org/10.1115/DETC2009-87636} }
Coopmans, C., Chao, H. and Chen, Y.	Design and Implementation of Sensing and Estimation Software in AggieNav, a Small UAV Navigation Platform [BibTeX]	2009	Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings	DOI
BibTeX: @inproceedings{Coopmans2009b, author = {Coopmans, Calvin and Chao, Haiyang and Chen, YangQuan}, title = {Design and Implementation of Sensing and Estimation Software in AggieNav, a Small UAV Navigation Platform}, booktitle = {Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2009}, doi = {http://dx.doi.org/10.1115/DETC2009-87675} }
Coopmans, C., Di, L., Jensen, A., Dennis, A.A. and Chen, Y.	Improved Architecture Designs for a Low Cost Personal Remote Sensing Platform: Flight Control and Safety [BibTeX]	2011	Vol. 2011(54808)Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B, pp. 937-943	inproceedings	DOI URL
BibTeX: @inproceedings{Coopmans2011, author = {Coopmans, Calvin and Di, Long and Jensen, Austin and Dennis, Aaron A. and Chen, YangQuan}, title = {Improved Architecture Designs for a Low Cost Personal Remote Sensing Platform: Flight Control and Safety}, booktitle = {Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B}, publisher = {ASME}, year = {2011}, volume = {2011}, number = {54808}, pages = {937--943}, url = {http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=ASMECP002011054808000937000001&idtype=cvips&gifs=yes&ref=no}, doi = {http://dx.doi.org/10.1115/DETC2011-48167} }
Coopmans, C. and Han, Y.	AggieAir: An Integrated and Effective Small Multi-UAV Command, Control and Data Collection Architecture [BibTeX]	2009	Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings	DOI
BibTeX: @inproceedings{Coopmans2009, author = {Coopmans, Calvin and Han, Yiding}, title = {AggieAir: An Integrated and Effective Small Multi-UAV Command, Control and Data Collection Architecture}, booktitle = {Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2009}, doi = {http://dx.doi.org/10.1115/DETC2009-87671} }
Coopmans, C., Jensen, A. and Chen, Y.	Fractional-Order Complementary Filter for Small Unmanned Aerial System Navigation [BibTeX]	2013	Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)	inproceedings
BibTeX: @inproceedings{Coopmans2013, author = {Coopmans, Cal and Jensen, Austin and Chen, YangQuan}, title = {Fractional-Order Complementary Filter for Small Unmanned Aerial System Navigation}, booktitle = {Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)}, year = {2013} }
Coopmans, C., Stark, B. and Coffin, C.M.	A payload verification and management framework for small UAV-based personal remote sensing systems [Abstract] [BibTeX]	2012	2012 5th International Symposium on Resilient Control Systems, pp. 184-189	inproceedings	DOI URL
Abstract: Small, unmanned aerial systems are becoming more important in many fields, including civilian, scientific applications. Affordable systems that allow remote sensing at a small scale&x2014;personal remote sensing&x2014;are possible with proper system design. To assure data mission success (i.e., reliable and safe data collection) with low-cost or consumer-level sensor hardware, a well-designed payload management system is needed, along with sensor interface development and standardized testing frameworks for verification. This payload management system ensures a level of airworthiness for Data Mission Assurance. This paper presents such a system, along with motivations and choices such as system architecture and implementation, as well as standardized testing and verification. Data results from flight of a fixed-wing example payload is also included.
BibTeX: @inproceedings{Coopmans2012a, author = {Coopmans, Calvin and Stark, Brandon and Coffin, Christopher M.}, title = {A payload verification and management framework for small UAV-based personal remote sensing systems}, booktitle = {2012 5th International Symposium on Resilient Control Systems}, publisher = {IEEE}, year = {2012}, pages = {184--189}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6309316}, doi = {http://dx.doi.org/10.1109/ISRCS.2012.6309316} }
Di, L., Chao, H. and Chen, Y.	A two-stage calibration method for low-cost UAV attitude estimation using infrared sensor [BibTeX]	2010	Proc. IEEE/ASME Int Mechatronics and Embedded Systems and Applications (MESA) Conf, pp. 137-142	inproceedings	DOI
BibTeX: @inproceedings{Di2010, author = {Di, Long and Chao, Haiyang and Chen, Y}, title = {A two-stage calibration method for low-cost UAV attitude estimation using infrared sensor}, booktitle = {Proc. IEEE/ASME Int Mechatronics and Embedded Systems and Applications (MESA) Conf}, year = {2010}, pages = {137--142}, doi = {http://dx.doi.org/10.1109/MESA.2010.5552079} }
Di, L. and Chen, Y.	Autonomous Flying Under 500 USD Based on RC Aircraft [Abstract] [BibTeX]	2011	Vol. 2011(54808)Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B, pp. 929-936	inproceedings	DOI URL
Abstract: Radio control (RC) aircrafts have been favorite toys of aviation hobbyists for years. Because of their simple configurations and low expense, they can also be used for reconnaissance and surveillance with information-gathering devices under commands of a skillful human pilot. However, control with human in the loop not only degrades the reliability of the flight performance, but also bring restrictions in endurance and accuracy. In order to resolve these issues and extend the usage of RC aircrafts, getting them capable of autonomous navigation is a preferred solution. This paper reports our approach by designing and integrating an autonomous system on a regular RC aircraft to achieve full autonomy while keeping the additional costs almost equivalent to the cheap RC platform. The current platform will be briefly presented, the system architecture and major components will be introduced, and detailed autonomous demonstration flight results will be provided at the end.
BibTeX: @inproceedings{Di2011a, author = {Di, Long and Chen, YangQuan}, title = {Autonomous Flying Under 500 USD Based on RC Aircraft}, booktitle = {Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B}, publisher = {ASME}, year = {2011}, volume = {2011}, number = {54808}, pages = {929--936}, url = {http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=ASMECP002011054808000929000001&idtype=cvips&gifs=yes&ref=no}, doi = {http://dx.doi.org/10.1115/DETC2011-47851} }
Hall, C., Morgan, D., Jensen, A.M., Chao, H., Chen, Y. and McKee, M.	Multiple Micro Aerial Vehicles for Applications in Real-Time Remote Sensing [BibTeX]	2008	AWRA 2008 Annual Water Resources Conference	inproceedings
BibTeX: @inproceedings{Hall2008, author = {Hall, Christopher and Morgan, Daniel and Jensen, Austin M and Chao, Haiyang and Chen, YangQuan and McKee, Mac}, title = {Multiple Micro Aerial Vehicles for Applications in Real-Time Remote Sensing}, booktitle = {AWRA 2008 Annual Water Resources Conference}, year = {2008} }
Hall, C.J., Morgan, D., Jensen, A., Chao, H., Coopmans, C., Humpherys, M. and Chen, Y.	Team OSAM-UAV’s Design for the 2008 AUVSI Student UAS Competition [BibTeX]	2009	Vol. 2009(49002)Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference, pp. 575-584	inproceedings	DOI URL
BibTeX: @inproceedings{Hall2009, author = {Hall, Christopher J. and Morgan, Daniel and Jensen, Austin and Chao, Haiyang and Coopmans, Calvin and Humpherys, Mitchel and Chen, YangQuan}, title = {Team OSAM-UAV’s Design for the 2008 AUVSI Student UAS Competition}, booktitle = {Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference}, publisher = {ASME}, year = {2009}, volume = {2009}, number = {49002}, pages = {575--584}, url = {http://asmedl.org/getabs/servlet/GetabsServlet?prog=normal&id=ASMECP002009049002000575000001&idtype=cvips&gifs=yes&ref=no}, doi = {http://dx.doi.org/10.1115/DETC2009-86500} }
Han, Y., Jensen, A. and Dou, H.	Programmable Multispectral Imager Development as Light Weight Payload for Low Cost Fixed Wing Unmanned Aerial Vehicles [Abstract] [BibTeX]	2009	Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings	DOI
Abstract: In this paper, we have developed a light-weight and costefficient multispectral imager payload for low cost fixed wing UAVs (Unmanned Aerial Vehicles) that need no runway for takeoff and landing. The imager is band-reconfigurable, covering both visual (RGB) and near infrared (NIR) spectrum. The number of the RGB and NIR sensors is scalable, depending on the demands of specific applications. The UAV on-board microcomputer programs and controls the imager system, synchronizing each camera individually to capture airborne imagery. It also bridges the payload to the UAV system by sending and receiving message packages. The airborne imagery is time-stamped with the corresponding local and geodetic coordinates data measured by the onboard IMU (Inertia Measurement Unit) and GPS (Global Positioning System) module. Subsequently, the imagery will be orthorectified with the recorded geo-referencing data. The application of such imager system includes multispectral remote sensing, ground mapping, target recognition, etc. In this paper, we will outline the technologies, demonstrate our experimental results from actual UAV flight missions, and compare the results with our previous imager system.
BibTeX: @inproceedings{Han2009, author = {Han, Yiding and Jensen, Austin and Dou, Huifang}, title = {Programmable Multispectral Imager Development as Light Weight Payload for Low Cost Fixed Wing Unmanned Aerial Vehicles}, booktitle = {Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2009}, doi = {http://dx.doi.org/10.1115/DETC2009-87741} }
Hoffer, N., Coopmans, C., Jensen, A. and Chen, Y.	Small Low Cost Unmanned Aerial Vehicle System Identification: A Survey and Catagorization [BibTeX]	2013	Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)	inproceedings
BibTeX: @inproceedings{Hoffer2013, author = {Hoffer, Nathan and Coopmans, Cal and Jensen, Austin and Chen, YangQuan}, title = {Small Low Cost Unmanned Aerial Vehicle System Identification: A Survey and Catagorization}, booktitle = {Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)}, year = {2013} }
Jensen, A.	gRAID: A Geospatial Real-Time Aerial Image Display for a Low-Cost Autonomous Multispectral Remote Sensing Platform (AggieAir) [Abstract] [BibTeX]	2009	School: Utah State University	mastersthesis	URL
Abstract: Remote sensing helps many applications like precision irrigation, habitat mapping, and traffic monitoring. However, due to shortcomings of current remote sensing platforms - like high cost, low spatial, and temporal resolution - many applications do not have access to useful remote sensing data. A team at the Center for Self-Organizing and Intelligent Systems (CSOIS) together with the Utah Water Research Laboratory (UWRL) at Utah State University has been developing a new remote sensing platform to deal with these shortcomings in order to give more applications access to remote sensing data. This platform (AggieAir) is low cost, fully autonomous, easy to use, independent of a runway, has a fast turnover time, and a high spatial resolution. A program called the Geospatial Real-Time Aerial Image Display (gRAID) has also been developed to process the images taken from AggieAir. gRAID is able to correct the camera lens distortion, georeference, and display the images on a 3D globe, and export them in a conventional Geographic Information System (GIS) format for further processing. AggieAir and gRAID prove to be innovative and useful tools for remote sensing.
BibTeX: @mastersthesis{Jensen2009b, author = {Jensen, Austin}, title = {gRAID: A Geospatial Real-Time Aerial Image Display for a Low-Cost Autonomous Multispectral Remote Sensing Platform (AggieAir)}, school = {Utah State University}, year = {2009}, url = {http://proquest.umi.com/pqdlink?Ver=1&Exp=01-04-2016&FMT=7&DID=1949509671&RQT=309&attempt=1&cfc=1} }
Jensen, A. and Chen, Y.	Tracking Tagged Fish with Swarming Unmanned Aerial Vehicles Using Fractional Order Potential Fields and Kalman Filtering [BibTeX]	2013	Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)	inproceedings
BibTeX: @inproceedings{Jensen2013, author = {Jensen, Austin and Chen, YangQuan}, title = {Tracking Tagged Fish with Swarming Unmanned Aerial Vehicles Using Fractional Order Potential Fields and Kalman Filtering}, booktitle = {Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)}, year = {2013} }
Jensen, A., Coopmans, C. and Chen, Y.	Basics and Guidelines of Complementary Filters for Small UAS Navigation [BibTeX]	2013	Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)	inproceedings
BibTeX: @inproceedings{Jensen2013a, author = {Jensen, Austin and Coopmans, Cal and Chen, YangQuan}, title = {Basics and Guidelines of Complementary Filters for Small UAS Navigation}, booktitle = {Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)}, year = {2013} }
Jensen, A., Neilson, B., McKee, M. and Chen, Y.	Thermal Remote Sensing With an Autonomous Unmanned Aerial Remote Sensing Platform for Surface Stream Temperatures [BibTeX]	2012	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS), pp. 5049-5052	inproceedings
BibTeX: @inproceedings{Jensen2012, author = {Jensen, Austin and Neilson, B.T. and McKee, M. and Chen, Y.Q.}, title = {Thermal Remote Sensing With an Autonomous Unmanned Aerial Remote Sensing Platform for Surface Stream Temperatures}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2012}, pages = {5049--5052} }
Jensen, A.M., Baumann, M. and Chen, Y.	Low-Cost Multispectral Aerial Imaging Using Autonomous Runway-Free Small Flying Wing Vehicles [Abstract] [BibTeX]	2008	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)	inproceedings	DOI
Abstract: Aerial imaging has become very important to areas like remote sensing and surveying. However, it has remained expensive and difficult to obtain with high temporal and spatial resolutions. This paper presents a method to retrieve georeferenced aerial images by using a small UAV (unmanned aerial vehicle). Obtaining aerial images this way is inexpensive, easy-to-use and allows for high temporal and spatial resolutions. New and difficult problems are introduced by the small image footprint and the inherent errors from an inexpensive compact inertial measurement unit (IMU). The small image footprint prevents us from using the features from the images to help negate the errors from the IMU, which is done in conventional methods. Our method includes: using the data from the IMU to georeference the images, projecting the images on the earth and using a man-in-the-loop approach to minimize the error from the IMU. Sample results from our working system are presented for illustration.
BibTeX: @inproceedings{Jensen2008, author = {Jensen, Austin M and Baumann, Marc and Chen, YangQuan}, title = {Low-Cost Multispectral Aerial Imaging Using Autonomous Runway-Free Small Flying Wing Vehicles}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2008}, doi = {http://dx.doi.org/10.1109/IGARSS.2008.4780140} }
Jensen, A.M., Chen, Y., Hardy, T. and McKee, M.	AggieAir - A Low-cost Autonomous Multispectral Remote Sensing Platform: New Developments and Applications [Abstract] [BibTeX]	2009	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)	inproceedings	DOI
Abstract: Data acquired by aircraft, satellites and other sources of remote sensing has become very important for many applications. Even though current platforms for remote sensing have proved to be robust, they can also be expensive, have low spatial and temporal resolution, with a long turnover time. At Utah State University (USU), there is an ongoing project to develop a new small, low-cost, high resolution, multispectral remote sensing platform which is completely autonomous, easy to use and has a fast turnover time. Many new developments have been added to AggieAir which have improved the flight performance and flexibility, increased the flight time and payload capacity. Furthermore, these developments have made it possible to carry an imaging system with more quality and resolution. With these new developments, AggieAir has begun work with many projects from areas in agriculture, riparian habitat mapping, highway and road surveying and fish tracking. Development on AggieAir continues with future plans with a thermal inferred camera, an in house inertial measurement unit (IMU) and better navigation to handle higher winds.
BibTeX: @inproceedings{Jensen2009a, author = {Jensen, Austin M and Chen, YangQuan and Hardy, Thom and McKee, Mac}, title = {AggieAir - A Low-cost Autonomous Multispectral Remote Sensing Platform: New Developments and Applications}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2009}, doi = {http://dx.doi.org/10.1109/IGARSS.2009.5417547} }
Jensen, A.M., Han, Y. and Chen, Y.	Using Aerial Images to Calibrate Inertial Sensors of a Low-cost Multispectral Autonomous Remote Sensing Platform (AggieAir) [Abstract] [BibTeX]	2009	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)	inproceedings	DOI
Abstract: Even though small, low-cost unmanned aerial vehicles (UAVs) make good remote sensing platforms by reducing the cost and making imagery easier to obtain, there are also some tradeoffs. The low altitude, small image footprint and high number of images make it difficult and tedious to georeference the images based on features. Auto-orthorectification techniques based on the position and attitude of the UAV would work well except the inherent errors in the UAV sensors reduce the accuracy of the orthorectification significantly. This paper presents a method to improve the orthorectification accuracy by calibrating the UAV sensors. This is done by inverse orthorectifing the images to find the actual position and attitude of the UAV using ground references setup in a square. Actual data from a test flight is used to validate this method.
BibTeX: @inproceedings{Jensen2009, author = {Jensen, Austin M and Han, Yiding and Chen, YangQuan}, title = {Using Aerial Images to Calibrate Inertial Sensors of a Low-cost Multispectral Autonomous Remote Sensing Platform (AggieAir)}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2009}, doi = {http://dx.doi.org/10.1109/IGARSS.2009.5418142} }
Jensen, A.M., Hardy, T., McKee, M. and Chen, Y.Q.	Using a Multispectral Autonomous Unmanned Aerial Remote Sensing Platform (AggieAir) for Riparian and Wetland Applications [BibTeX]	2011	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)	inproceedings
BibTeX: @inproceedings{Jensen2011, author = {Jensen, Austin M and Hardy, Thomas and McKee, Mac and Chen, Yang Quan}, title = {Using a Multispectral Autonomous Unmanned Aerial Remote Sensing Platform (AggieAir) for Riparian and Wetland Applications}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2011} }
Jensen, A.M., Morgan, D., Clemens, S., Chen, Y. and Hardy, T.	Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D Photogrammetry and Distributed Wind Measurement [Abstract] [BibTeX]	2009	Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings	DOI
Abstract: Small, low-cost unmanned aerial vehicles (UAV) has made data acquisition more convenient and accessible for many applications. Using multiple UAVs (a coven) brings even more advantages like redundancy and distributed information. The objective of this paper is to show how a coven of UAVs can help two applications: measuring wind and 3D photogrammetry.
BibTeX: @inproceedings{Jensen2009c, author = {Jensen, Austin M and Morgan, Daniel and Clemens, Shannon and Chen, YangQuan and Hardy, Thomas}, title = {Using Multiple Open-Source Low-Cost Unmanned Aerial Vehicles (UAV) for 3D Photogrammetry and Distributed Wind Measurement}, booktitle = {Proceedings of the 2009 ASME/IEEE International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2009}, doi = {http://dx.doi.org/10.1115/DETC2009-87586} }
Jensen, A.M., Wildmann, N., Chen, Y. and Voos, H.	In-situ Unmanned Aerial Vehicle (UAV) Sensor Calibration to Improve Automatic Image Orthorectification [Abstract] [BibTeX]	2010	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS), pp. 596-599	inproceedings	DOI
Abstract: Small, low-altitude unmanned aerial vehicles (UAV)s can be very useful in many ecological applications as a personal remote sensing platform. However, in many cases it is difficult to produce a single georeferenced mosaic from the many small images taken from the UAV. This is due to the lack of features in the images and the inherent errors from the inexpensive navigation sensors. This paper focuses on improving the orthorectification accuracy by finding these errors and calibrating the navigation sensors. This is done by inverse-orthorectifying a set of images collected during flight using ground targets and General Procrustes Analysis. By comparing the calculated data from the inverse-orthorectification and the measured data from the navigation sensors, different sources of errors can be found and characterized, such as GPS computational delay, logging delay, and biases. With this method, the orthorectification errors are reduced from less than 60m to less than 1.5m.
BibTeX: @inproceedings{Jensen2010, author = {Jensen, Austin M and Wildmann, Norman and Chen, YangQuan and Voos, Holger}, title = {In-situ Unmanned Aerial Vehicle (UAV) Sensor Calibration to Improve Automatic Image Orthorectification}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2010}, pages = {596--599}, doi = {http://dx.doi.org/10.1109/IGARSS.2010.5652989} }
Kaheil, Y., Gill, M., McKee, M., Bastidas, L. and Rosero, E.	Downscaling and assimilation of surface soil moisture using ground truth measurements [Abstract] [BibTeX]	2008	Geoscience and Remote Sensing, IEEE Transactions on Vol. 46(5), pp. 1375-1384	article	URL
Abstract: Methods for reconciliation of spatial and temporal scales of data have become increasingly important as remote sensing data become more readily available and as the science of hydrology moves more heavily toward distributed modeling. The purpose of this paper is to develop a method to disaggregate coarse-resolution remote sensing data to finer scale resolutions that are more appropriate for use in hydrologic studies and water management. This disaggregation is done with the help of point measurements on the ground. The downscaling of remote sensing data is achieved by three main steps: initialization, spatial pattern mimicking, and assimilation. The first two steps are part of the main algorithm, and the last step, assimilation, is included for fine-tuning and to ensure further compatibility between the coarse-scale and fine-scale images. The assimilation step also incorporates the information coming from the point measurements. The approach has been applied and validated by downscaling images for two cases. In the first case, a synthetically generated random field is reproduced at fine and coarse resolutions. The downscaled image has been shown to match the spatial properties of the true image according to the variogram test as well as the magnitude of values according to the various univariate goodness-of-fit measures R2 = 0.91. In the second case, a soil moisture field from the Southern Great Plains (SGP 97) experiments is downscaled from a resolution of 800 m × 800 m to a resolution of 50 m × 50 m.
BibTeX: @article{Kaheil2008, author = {Kaheil, Y.H. and Gill, M.K. and McKee, M. and Bastidas, L.A. and Rosero, Enrique}, title = {Downscaling and assimilation of surface soil moisture using ground truth measurements}, journal = {Geoscience and Remote Sensing, IEEE Transactions on}, publisher = {IEEE}, year = {2008}, volume = {46}, number = {5}, pages = {1375--1384}, url = {http://ieeexplore.ieee.org/xpls/absall.jsp?arnumber=4490059} }
Kaheil, Y., Rosero, E., Gill, M., McKee, M. and Bastidas, L.	Downscaling and forecasting of evapotranspiration using a synthetic model of wavelets and support vector machines [Abstract] [BibTeX]	2008	Geoscience and Remote Sensing, IEEE Transactions on Vol. 46(9), pp. 2692-2707	article	URL
Abstract: Providing reliable forecasts of evapotranspiration (ET) at farm level is a key element toward efficient water management in irrigated basins. This paper presents an algorithm that provides a means to downscale and forecast dependent variables such as ET images. Using the discrete wavelet transform (DWT) and support vector machines (SVMs), the algorithm finds multiple relationships between inputs and outputs at all different spatial scales and uses these relationships to predict the output at the finest resolution. Decomposing and reconstructing processes are done by using 2-D DWT with basis functions that suit the physics of the property in question. Two-dimensional DWT for one level will result in one datum image (low–low-pass filter image) and three detail images (low–high, high–low, and high–high). The underlying relationship between the input variables and the output are learned by training an SVM on the datum images at the resolution of the output. The SVM is then applied on the detailed images to produce the detailed images of the output, which are needed to help downscale the output image to a higher resolution. In addition to being downscaled, the output image can be shifted ahead in time, providing a means for the algorithm to be used for forecasting. The algorithm has been applied on two case studies, one in Bondville, IL, where the results have been validated against AmeriFlux observations, and another in the Sevier River Basin, UT.
BibTeX: @article{Kaheil2008a, author = {Kaheil, Y.H. and Rosero, Enrique and Gill, M.K. and McKee, M. and Bastidas, L.A.}, title = {Downscaling and forecasting of evapotranspiration using a synthetic model of wavelets and support vector machines}, journal = {Geoscience and Remote Sensing, IEEE Transactions on}, publisher = {IEEE}, year = {2008}, volume = {46}, number = {9}, pages = {2692--2707}, url = {http://ieeexplore.ieee.org/xpls/absall.jsp?arnumber=4599259} }
Kaplanek, D.	Development of a real-time vision-based target recognition and geo-location system using camera equipped autonomous UAV's [BibTeX]	2008	School: Hochschule Ravensburg-Weingarten University of Applied Sciences and Utah State University	mastersthesis
BibTeX: @mastersthesis{Kaplanek2008, author = {Kaplanek, Daniel}, title = {Development of a real-time vision-based target recognition and geo-location system using camera equipped autonomous UAV's}, school = {Hochschule Ravensburg-Weingarten University of Applied Sciences and Utah State University}, year = {2008} }
Leonardo, M., Jensen, A., Coopmans, C., McKee, M. and Chen, Y.	A Miniature Wildlife Tracking UAV Payload System using Acoustic Biotelemetry [BibTeX]	2013	Proc. of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings
BibTeX: @inproceedings{Leonardo2013, author = {Leonardo, Miguel and Jensen, Austin and Coopmans, Calvin and McKee, Mac and Chen, Yangquan}, title = {A Miniature Wildlife Tracking UAV Payload System using Acoustic Biotelemetry}, booktitle = {Proc. of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2013} }
Luo, Y., Di, L., Han, J., Chao, H. and Chen, Y.	VTOL UAV Altitude Flight Control Using Fractional Order Controllers [BibTeX]	2010	In Proceedings of the 4th IFAC Workshop on Fractional Differentiation and Its Applications	inproceedings
BibTeX: @inproceedings{Luo2010, author = {Luo, Ying and Di, Long and Han, Jinlu and Chao, Haiyang and Chen, YangQuan}, title = {VTOL UAV Altitude Flight Control Using Fractional Order Controllers}, booktitle = {In Proceedings of the 4th IFAC Workshop on Fractional Differentiation and Its Applications}, year = {2010} }
Podhradsky, M., Bone, J., Jensen, A. and Coopmans, C.	Smal Low-cost Unmanned Aerial Vehicle Lithium-polymer Battery Monitoring System [BibTeX]	2013	Proc. of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference	inproceedings
BibTeX: @inproceedings{Podhradsky2013a, author = {Podhradsky, Michal and Bone, Jarret and Jensen, Austin and Coopmans, Calvin}, title = {Smal Low-cost Unmanned Aerial Vehicle Lithium-polymer Battery Monitoring System}, booktitle = {Proc. of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference}, year = {2013} }
Podhradsky, M., Coopmans, C. and Jensen, A.	Battery Model-Based Thrust Controller for a Small, Low Cost Multirotor Unmanned Aerial Vehicles [BibTeX]	2013	Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)	inproceedings
BibTeX: @inproceedings{Podhradsky2013, author = {Podhradsky, Michal and Coopmans, Cal and Jensen, Austin}, title = {Battery Model-Based Thrust Controller for a Small, Low Cost Multirotor Unmanned Aerial Vehicles}, booktitle = {Proc. of the International Conference on Unmanned Aircraft Systems (ICUAS)}, year = {2013} }
Sheng, H., Chao, H., Coopmans, C., Han, J., McKee, M. and Chen, Y.	Low-cost UAV-based thermal infrared remote sensing: Platform, calibration and applications [BibTeX]	2010	Proc. IEEE/ASME Int Mechatronics and Embedded Systems and Applications (MESA) Conf, pp. 38-43	inproceedings	DOI
BibTeX: @inproceedings{Sheng2010, author = {Sheng, Hu and Chao, Haiyang and Coopmans, C and Han, Jinlu and McKee, M and Chen, YangQuan}, title = {Low-cost UAV-based thermal infrared remote sensing: Platform, calibration and applications}, booktitle = {Proc. IEEE/ASME Int Mechatronics and Embedded Systems and Applications (MESA) Conf}, year = {2010}, pages = {38--43}, doi = {http://dx.doi.org/10.1109/MESA.2010.5552031} }
Tricaud, C. and Chen, Y.	Smart remote sensing of environmental systems using Unmanned Air Vehicles [BibTeX]	2010	Proc. 8th World Congress Intelligent Control and Automation (WCICA), pp. 1800-1805	inproceedings	DOI
BibTeX: @inproceedings{Tricaud2010, author = {Tricaud, C and Chen, YangQuan}, title = {Smart remote sensing of environmental systems using Unmanned Air Vehicles}, booktitle = {Proc. 8th World Congress Intelligent Control and Automation (WCICA)}, year = {2010}, pages = {1800--1805}, doi = {http://dx.doi.org/10.1109/WCICA.2010.5554548} }
Wildmann, N.	Techniques Towards Increased Precision in Direct-Georeferencing for AggieAir, a Low-Cost Personal Remote Sensing System [BibTeX]	2010	School: Hochschule Ravensburg-Weingarten	mastersthesis
BibTeX: @mastersthesis{Wildmann2010, author = {Wildmann, Norman}, title = {Techniques Towards Increased Precision in Direct-Georeferencing for AggieAir, a Low-Cost Personal Remote Sensing System}, school = {Hochschule Ravensburg-Weingarten}, year = {2010} }
Zaman, B. and McKee, M.	Fusion of Remotely Sensed Data for Multiclass RVM Classification [BibTeX]	2012	IEEE Trans. of Geoscience and Remote Sensing	article
BibTeX: @article{Zaman2012a, author = {Zaman, Bushra and McKee, Mac}, title = {Fusion of Remotely Sensed Data for Multiclass RVM Classification}, journal = {IEEE Trans. of Geoscience and Remote Sensing}, year = {2012} }
Zaman, B. and McKee, M.	Use of a Multivariate Relevance Vector Machine for Estimation of the Distribution and Spread of Wetlands Species [BibTeX]	2012		article
BibTeX: @article{Zaman2012b, author = {Zaman, Bushra and McKee, Mac}, title = {Use of a Multivariate Relevaance Vector Machine for Estimation of the Distribution and Spread of Wetlands Species}, year = {2012} }
Zaman, B., McKee, M. and Jensen, A.	Use of High-Resolution Multispectral Imagery Acquired with an Autonomous Unmanned Aerial Vehicle to Quantify the Spread of an Invasive Wetland Species [BibTeX]	2011	Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)	inproceedings
BibTeX: @inproceedings{Mckee2011, author = {Zaman, Bushra and McKee, Mac and Jensen, Austin}, title = {Use of High-Resolution Multispectral Imagery Acquired with an Autonomous Unmanned Aerial Vehicle to Quantify the Spread of an Invasive Wetland Species}, booktitle = {Proc. IEEE Int. Geoscience and Remote Sensing Symp. (IGARSS)}, year = {2011} }

Created by JabRef on 15/05/2013.

*All aerial imagery displayed on this website are flown with AggieAir and processed using EnsoMOSAIC. They have been compressed and are not displayed at full resolution.

A short history lesson…

The original Flying Circus was a World War I German fighter squadron led by Manfred von Richthofen, the “Red Baron”. The squadron got its name from the bright distinctive color schemes and high mobility of its fighter planes.

AggieAir Flying Circus flies officially with COA 2011-WSA-21-R at its training/testing area near Cache Junction, UT and with COA# 2010-WSA-40 at the Logan City Wastewater Treatment Lagoons in Cache County, UT.