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An agent architecture for autonomous UAV flight control in object classification and recognition missions

One of the major challenges in designing an autonomous agent system is to achieve the objective of recreating human-like cognition by exploiting the growing pragmatic architectures that act intelligently and intuitively in vital fields. Consequently, this research addresses the general problem of de...

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Main Authors: Mostafa S.A., Mustapha A., Gunasekaran S.S., Ahmad M.S., Mohammed M.A., Parwekar P., Kadry S.
Other Authors: 37036085800
Format: Article
Published: Springer Science and Business Media Deutschland GmbH 2024
Subjects:
Autonomous agent
Autonomous flight control architecture
Object classification
Robot operating system (ROS)
Search and survey mission
Unmanned aerial vehicle (UAV)
Aircraft control
Aircraft detection
Antennas
Autonomous agents
Computer operating systems
Data acquisition
Object detection
Robot Operating System
Unmanned aerial vehicles (UAV)
Aerial vehicle
Agent architectures
Autonomous flight control
Control agent
Control architecture
Robot operating system
Unmanned aerial vehicle
Surveys
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spelling my.uniten.dspace-347332024-10-14T11:22:10Z An agent architecture for autonomous UAV flight control in object classification and recognition missions Mostafa S.A. Mustapha A. Gunasekaran S.S. Ahmad M.S. Mohammed M.A. Parwekar P. Kadry S. 37036085800 57200530694 55652730500 56036880900 57192089894 54420919600 55906598300 Autonomous agent Autonomous flight control architecture Object classification Robot operating system (ROS) Search and survey mission Unmanned aerial vehicle (UAV) Aircraft control Aircraft detection Antennas Autonomous agents Computer operating systems Data acquisition Object detection Robot Operating System Unmanned aerial vehicles (UAV) Aerial vehicle Agent architectures Autonomous flight control Autonomous flight control architecture Control agent Control architecture Object classification Robot operating system Search and survey mission Unmanned aerial vehicle Surveys One of the major challenges in designing an autonomous agent system is to achieve the objective of recreating human-like cognition by exploiting the growing pragmatic architectures that act intelligently and intuitively in vital fields. Consequently, this research addresses the general problem of designing an agent-based autonomous flight control (AFC) architecture of a UAV to facilitate autonomous routing/navigation in uncharted and unascertained environments of organized foyer surroundings. The specific problem of this research is the indoor environment because of the perplexing characteristics of the required flight mechanics. We design the AFC agent architecture to consist of data acquisition, perception, localization, mapping, control, and planning modules. The AFC agent performs search and survey missions that entail commanding the UAV while performing object classifications and recognition tasks. The agent implements several image handling algorithms to detect and identify objects from their colors and shapes. It captures the video images acquired from a solitary onboard, front-facing camera which are handled off-board on a computer. We conduct tests on the AFC agent, and the results show that the agent successfully controls the UAV in three performed test cases and a total of nine implemented missions. The AFC agent detects and identifies all the assigned objects with a recall score of 1.00, a precision score of 0.9563, an accuracy score of 0.9573, an F1 score of 0.9776, an efficiency score of 0.5239, a detection total time score of 225.5�s, and an identification total time of 275�s and outperforms a human operator. � 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH, DE part of Springer Nature. Final 2024-10-14T03:22:10Z 2024-10-14T03:22:10Z 2023 Article 10.1007/s00500-021-05613-8 2-s2.0-85101170360 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85101170360&doi=10.1007%2fs00500-021-05613-8&partnerID=40&md5=152e87357f64fd6e624aacaba2d5e09b https://irepository.uniten.edu.my/handle/123456789/34733 27 1 391 404 Springer Science and Business Media Deutschland GmbH Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
topic Autonomous agent
Autonomous flight control architecture
Object classification
Robot operating system (ROS)
Search and survey mission
Unmanned aerial vehicle (UAV)
Aircraft control
Aircraft detection
Antennas
Autonomous agents
Computer operating systems
Data acquisition
Object detection
Robot Operating System
Unmanned aerial vehicles (UAV)
Aerial vehicle
Agent architectures
Autonomous flight control
Autonomous flight control architecture
Control agent
Control architecture
Object classification
Robot operating system
Search and survey mission
Unmanned aerial vehicle
Surveys
spellingShingle Autonomous agent
Autonomous flight control architecture
Object classification
Robot operating system (ROS)
Search and survey mission
Unmanned aerial vehicle (UAV)
Aircraft control
Aircraft detection
Antennas
Autonomous agents
Computer operating systems
Data acquisition
Object detection
Robot Operating System
Unmanned aerial vehicles (UAV)
Aerial vehicle
Agent architectures
Autonomous flight control
Autonomous flight control architecture
Control agent
Control architecture
Object classification
Robot operating system
Search and survey mission
Unmanned aerial vehicle
Surveys
Mostafa S.A.
Mustapha A.
Gunasekaran S.S.
Ahmad M.S.
Mohammed M.A.
Parwekar P.
Kadry S.
An agent architecture for autonomous UAV flight control in object classification and recognition missions
description One of the major challenges in designing an autonomous agent system is to achieve the objective of recreating human-like cognition by exploiting the growing pragmatic architectures that act intelligently and intuitively in vital fields. Consequently, this research addresses the general problem of designing an agent-based autonomous flight control (AFC) architecture of a UAV to facilitate autonomous routing/navigation in uncharted and unascertained environments of organized foyer surroundings. The specific problem of this research is the indoor environment because of the perplexing characteristics of the required flight mechanics. We design the AFC agent architecture to consist of data acquisition, perception, localization, mapping, control, and planning modules. The AFC agent performs search and survey missions that entail commanding the UAV while performing object classifications and recognition tasks. The agent implements several image handling algorithms to detect and identify objects from their colors and shapes. It captures the video images acquired from a solitary onboard, front-facing camera which are handled off-board on a computer. We conduct tests on the AFC agent, and the results show that the agent successfully controls the UAV in three performed test cases and a total of nine implemented missions. The AFC agent detects and identifies all the assigned objects with a recall score of 1.00, a precision score of 0.9563, an accuracy score of 0.9573, an F1 score of 0.9776, an efficiency score of 0.5239, a detection total time score of 225.5�s, and an identification total time of 275�s and outperforms a human operator. � 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH, DE part of Springer Nature.
author2 37036085800
author_facet 37036085800
Mostafa S.A.
Mustapha A.
Gunasekaran S.S.
Ahmad M.S.
Mohammed M.A.
Parwekar P.
Kadry S.
format Article
author Mostafa S.A.
Mustapha A.
Gunasekaran S.S.
Ahmad M.S.
Mohammed M.A.
Parwekar P.
Kadry S.
author_sort Mostafa S.A.
title An agent architecture for autonomous UAV flight control in object classification and recognition missions
title_short An agent architecture for autonomous UAV flight control in object classification and recognition missions
title_full An agent architecture for autonomous UAV flight control in object classification and recognition missions
title_fullStr An agent architecture for autonomous UAV flight control in object classification and recognition missions
title_full_unstemmed An agent architecture for autonomous UAV flight control in object classification and recognition missions
title_sort agent architecture for autonomous uav flight control in object classification and recognition missions
publisher Springer Science and Business Media Deutschland GmbH
publishDate 2024
_version_ 1814060131624681472
score 13.222552

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