Uncertainty Quantification-Based Switching Control Method for Vision-Based Object Tracking in Unmanned Aerial Vehicles
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Authors
Fernández Castaño, Antonio
Issue Date
2024
Type
Thesis
Language
Keywords
Machine Learning , Object Detection , Switching Controller , Unmanned Aerial Vehicles
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Abstract
Ensuring safe aerial robotics has become paramount with the increasing utilization of UAVs (Unmanned Aerial Vehicles) in dense urban environments. Machine Learning-based object detection methods that process camera sensor images have become essential in planning and navigating UAVs through these environments. However, like any machine learning tool, the object detection model is prone to aleatoric and epistemic uncertainties. This thesis introduces a perception-control framework incorporating a switching controller to improve robustness against uncertain measurements processed by an object detector. The proposed mechanism enables switching between different controllers based on the level of uncertainty quantified. This approach aims to enhance the reliability and safety of UAV operations in challenging environments. We tested this framework using a simulated environment where a UAV tracks an object using the YOLOv5 object detector. Our results demonstrate that the proposed control framework can mitigate the uncertainties of the machine learning perception by decreasing the system gain from the sensor noise to the output of the vehicle dynamics.
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Citation
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License
Creative Commons Attribution-NonCommercial 4.0 International