Now showing items 1-20 of 20

    • 3D Obstacle Avoidance in Adversarial Environments for Unmanned Aerial Vehicles. 

      Geyer, Mark S.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2006-08)
      As unmanned aerial vehicles (UAVs) are considered for a wider variety of military and commercial applications, the ability to navigate autonomously in unknown and hazardous environments is increasingly vital to the ...
    • Concurrent Filtering and Smoothing 

      Kaess, Michael; Williams, Stephen; Indelman, Vadim; Roberts, Richard; Leonard, John J.; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper presents a novel algorithm for integrating real-time filtering of navigation data with full map/trajectory smoothing. Unlike conventional mapping strategies, the result of loop closures within the smoother ...
    • Constrained Optimal Selection for Multi-Sensor Robot Navigation Using Plug-and-Play Factor Graphs 

      Chiu, Han-Pang; Zhou, Xun S.; Carlone, Luca; Dellaert, Frank; Samarasekera, Supun; Kumar, Rakesh (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2014)
      This paper proposes a real-time navigation approach that is able to integrate many sensor types while fulfilling performance needs and system constraints. Our approach uses a plug-and-play factor graph ...
    • Factor Graph Based Incremental Smoothing in Inertial Navigation Systems 

      Indelman, Vadim; Williams, Stephen; Kaess, Michael; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2012-07)
      This paper describes a new approach for information fusion in inertial navigation systems. In contrast to the commonly used filtering techniques, the proposed approach is based on a non-linear optimization for processing ...
    • Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2012)
      This paper presents several classes of control laws for steering an agent, that is, an aerial or marine vehicle, in the presence of a both temporally and spatially varying drift field induced by local winds/currents. The ...
    • Fourteen Years of Autonomous Rotorcraft Research at the Georgia Institute of Technology 

      Johnson, Eric N.; Mooney, John G.; Christophersen, Henrik B. (Georgia Institute of Technology, 2013)
      This paper presents a brief history and description of capabilities of the Georgia Tech Unmanned Aerial Vehicle Research Facility, while extracting and summarizing many significant and applicable results produced in the ...
    • Graph-based Path Planning for Mobile Robots 

      Wooden, David T. (Georgia Institute of Technology, 2006-11-16)
      In this thesis, questions of navigation, planning and control of real-world mobile robotic systems are addressed. Chapter II contains the first contribution in this thesis, which is a modification of ...
    • Guidance, Navigation, Control, and Operator Interfaces for Small Rapid Response Unmanned Helicopters 

      Christmann, Hans Claus; Christophersen, Henrik B.; Wu, Allen D.; Johnson, Eric N. (Georgia Institute of Technology, 2008-04)
      This paper focuses on the development of small rapid response reconnaissance unmanned helicopters (1 to 3 kg, electric), for use by the military in urban areas and by civilian first responders, in terms of system ...
    • Indoor Navigation for Unmanned Aerial Vehicles 

      Sobers, D. Michael Jr.; Chowdhary, Girish; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
      The ability for vehicles to navigate unknown environments is critical for autonomous operation. Mapping of a vehicle's environment and self-localization within that environment are especially difficult for an Unmanned ...
    • Line-of-Sight Constrained Exploration for Reactive Multiagent Robotic Teams 

      Arkin, Ronald C.; Diaz, Jonathan (Georgia Institute of Technology, 2001)
      In this paper we investigate how a team of robotic agents can self-organize for the exploration of a building subject to the constraint of maintaining line-of-sight communications. Three different behavioral strategies ...
    • A Lower Bound for Controlled Lagrangian Particle Tracking Error 

      Szwaykowska, Klementyna; Zhang, Fumin (Georgia Institute of Technology, 2010-12)
      Autonomous underwater vehicles are flexible mobile platforms for ocean sampling and surveillance missions. However, navigation of these vehicles in unstructured, highly variable ocean environments poses a significant ...
    • The M-Space Feature Representation for SLAM 

      Folkesson, John; Jensfelt, Patric; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      In this paper, a new feature representation for simultaneous localization and mapping (SLAM) is discussed. The representation addresses feature symmetries and constraints explicitly to make the basic model numerically ...
    • Methods for Localization and Mapping Using Vision and Inertial Sensors 

      Wu, Allen D.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2008-08)
      The problems of vision-based localization and mapping are currently highly active areas of research for aerial systems. With a wealth of information available in each image, vision sensors allow vehicles to gather data ...
    • Navigation Among Movable Obstacles: Real-Time Reasoning in Complex Environments 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of Technology, 2005-12)
      In this paper, we address the problem of Navigation Among Movable Obstacles (NAMO): a practical extension to navigation for humanoids and other dexterous mobile robots. The robot is permitted to reconfigure the environment ...
    • On Finding Globally Optimal Paths through Weighted Colored Graphs 

      Wooden, David; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2006-12)
      In this paper, we present a method for finding a globally optimal path through a colored graph. Optimal here means that, for a given path, the induced path coloring corresponds to an equivalent class. A total ordering ...
    • Optimal Feedback Guidance of a Small Aerial Vehicle in the Presence of Stochastic Wind 

      Anderson, Ross P.; Bakolas, Efstathios; Milutinović, Dejan; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2013)
      The navigation of a small unmanned aerial vehicle is challenging due to a large influence of wind to its kinematics. When the kinematic model is reduced to two dimensions, it has the form of the Dubins kinematic vehicle ...
    • Planning Among Movable Obstacles with Artificial Constraints 

      Stilman, Mike; Kuffner, James J. (Georgia Institute of TechnologySage Publications, 2008-11)
      This paper presents artificial constraints as a method for guiding heuristic search in the computationally challenging domain of motion planning among movable obstacles. The robot is permitted to manipulate unspecified ...
    • Preliminary Evaluation of Rapidly-Exploring Random Trees for Sling-Load Flight Guidance 

      Johnson, Eric N.; Mooney, John G. (Georgia Institute of Technology, 2013)
      A novel approach to providing guidance for helicopters with under-slung loads is presented. Rapidly-exploring Ran- dom Trees are adapted to plan trajectories for simplified helicopter-load models. The algorithm is presented ...
    • Saliency Detection and Model-based Tracking: a Two Part Vision System for Small Robot Navigation in Forested Environments 

      Roberts, Richard; Ta, Duy-Nguyen; Straub, Julian; Ok, Kyel; Dellaert, Frank (Georgia Institute of TechnologySPIE, 2012-05-01)
      Towards the goal of fast, vision-based autonomous flight, localization, and map building to support local planning and control in unstructured outdoor environments, we present a method for incrementally building a map of ...
    • Science-centric sampling approaches of geo-physical environments for realistic robot navigation 

      Parker, Lonnie Thomas (Georgia Institute of Technology, 2012-06-20)
      The objective of this research effort is to provide a methodology for assessing the effectiveness of sampling techniques used to gather different types of geo-physical information by a robotic agent. We focus on assessing ...