Recent Submissions

  • Efficient Approximation of Optimal High-Order Kinematic Trajectories 

    Mooney, John; Johnson, Eric N. (Georgia Institute of Technology, 2016-01)
    A method for efficiently planning one-dimensional pop-limited trajectories is presented, along with a direct method for synchronizing trajectories across multiple dimensions. This heuristic is designed for a double ...
  • Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation 

    Chowdhary, Girish; Sobers, D. Michael, Jr.; Pravitra, Chintasid; Christmann, Hans Claus; Wu, Allen; Hashimoto, Hiroyuki; Ong, Chester; Kalghatgi, Roshan; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2012-11)
    This paper describes the design and flight test of a completely self-contained autonomous indoor Miniature Unmanned Aerial System (M-UAS). Guidance, navigation, and control algorithms are presented, enabling the M-UAS ...
  • Visibility Cues for Communication Aware Guidance in Cluttered Environments 

    Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of TechnologySpringer Berlin Heidelberg, 2011)
    This paper presents the usage of visibility based guidance cues in order to find waypoints useful for maintaining communication in a multi UAV (Uninhabited Aerial Vehicle), single operator system. Based upon the overlay ...
  • A Language for Describing Agent Behavior as Hybrid Models 

    Kannan, Suresh K.; Christmann, Hans Claus; Lee, Seungman; Johnson, Eric N.; Kim, So Y. K (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
    Air Traffic conflict detection and resolution (CDR) involves multiple domains, the modeling of physical systems such as aircraft, encoding conflict detection algorithms as well as the procedures(tasks) for conflict ...
  • Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS 

    Chowdhary, Girish; Sobers, D. Michael, Jr.; Pravitra, Chintasid; Christmann, Hans Claus; Wu, Allen; Hashimoto, Hiroyuki; Ong, Chester; Kalghatgi, Roshan; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2011-08)
    This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined ...
  • A Comprehensive Matrix of Unmanned Aerial Systems Requirements for Potential Applications within a Department of Transportation 

    Karan, Ebrahim P.; Christmann, Hans Claus; Gheisar, Masoud; Irizarry, Javier; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Society of Civil Engineers, 2014)
    The continuous improvement in the function and performance of Unmanned Aerial Systems (UASs) promotes the need for specific research to integrate this leading edge technology in to various applications across ...
  • A Simulation Engine to Predict Multi-Agent Work in Complex, Dynamic, Heterogeneous Systems 

    Pritchett, Amy R.; Christmann, Hans Claus; Bigelow, Matthew S. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-02)
    This paper documents a simulation engine developed to accurately and efficiently simulate work by multiple agents in complex dynamic systems. Agents (human or mechanical) are modeled as responding to, and ...
  • Benchmarking of UAV Guidance Systems in Nap of the Earth (NOE) Flight 

    Johnson, Eric N.; Bershadsky, Dmitry (Georgia Institute of Technology, 2014-05)
    This paper describes the development of a proposed framework of metrics for the evaluation of the performance of aircraft guidance systems. The methodologies and metrics developed remain generally agnostic to whether or ...
  • Development of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigation 

    Haviland, Stephen; Bershadsky, Dmitry; Magree, Daniel; Johnson, Eric N. (Georgia Institute of Technology, 2015-05)
    This paper presents the work and related research done in preparation for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) Student Challenge. The described MAV operates without human interaction in search ...
  • Georgia Tech Team Entry for the 2013 AUVSI International Aerial Robotics Competition 

    Magree, Daniel; Bershadsky, Dmitry; Costes, Chris; Haviland, Stephen; Sanz, David; Kim, Eric; Valdez, Pierre; Dyer, Timothy; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
  • Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition 

    Magree, Daniel; Bershadsky, Dmitry; Wang, Xo; Valdez, Pierre; Antico, Jason; Coder, Ryan; Dyer, Timothy; George, Eohan; Johnson, Eric N. (Georgia Institute of Technology, 2012-08)
    This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A Simultaneous Localization and Mapping (SLAM) algorithm ...
  • Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition 

    Chowdhary, Girish; Magree, Daniel; Bershadsky, Dmitry; Dyer, Timothy; George, Eohan; Hashimoto, Hiroyuki; Kalghatgi, Roshan; Johnson, Eric N. (Georgia Institute of Technology, 2011-08)
    his paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. An elaborate Simultaneous Localization and Mapping (SLAM) ...
  • Situational and Terrain Awareness and Warning System Implementation on Android Smartphone for Manned Aviation Applications 

    Bershadsky, Dmitry; Dressel, Louis; Johnson, Eric N. (Georgia Institute of Technology, 2014-01)
    General aviation (GA) aircraft are for the most part not equipped with situational awareness or alerting systems, namely in terms of traffic or terrain collision. This is largely due to lack of regulatory requirements, but ...
  • Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems 

    Bershadsky, Dmitry; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
    Autonomous exploration and mapping of environments is an important problem in robotics. Efficient exploration of structured environments requires that the robot utilize region-specific exploration strategies and coordinate ...
  • Information-Theoretic Stochastic Optimal Control via Incremental Sampling-based Algorithms 

    Arslan, Oktay; Theodorou, Evangelos A.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-12)
    This paper considers optimal control of dynamical systems which are represented by nonlinear stochastic differential equations. It is well-known that the optimal control policy for this problem can be obtained as a function ...
  • Spectral Analysis of Extended Consensus Algorithms for Multiagent Systems 

    van de Hoef, Sebastian; Dimarogonas, Dimos V.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-12)
    We analyze an extension of the well-known linear consensus protocol for agents moving in two dimensions, where the standard consensus feedback is multiplied with a rotation matrix. This leads to a richer family of trajectories, ...
  • An Optimal Evader Strategy in a Two-Pursuer One-Evader Problem 

    Sun, Wei; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-12)
    We consider a relay pursuit-evasion problem with two pursuers and one evader. We reduce the problem to a one-pursuer/one-evader problem subject to a state constraint. A suboptimal control strategy for the evader to prolong ...
  • An Asymmetric Version of the Two Car Pursuit-Evasion Game 

    Exarchos, Ioannis; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-12)
    n this paper we consider a differential game of pursuit and evasion involving two players with constant, but different, speeds, and different maneuverability constraints. Specifically, the evader has limited maneuverability, ...
  • Pose-Tracking Controller for Satellites with Time-Varying Inertia 

    Filipe, Nuno; Holzinger, Marcus J.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-06)
    Satellite proximity operations have been identified by NASA and the USAF as a crucial technology that could enable a series of new missions in space. Such missions would require a satellite to simultaneously and accurately ...
  • Efficient Closed-Loop Detection and Pose Estimation for Vision-Only Relative Localization in Space with a Cooperative Target 

    Zhang, Guangcong; Vela, Patricio A.; Tsiotras, Panagiotis; Cho, Dae-Min (Georgia Institute of Technology, 2014-08)
    An integrated processing pipeline is presented for relative pose estimation of vision-only cooperative localization between two vehicles with unknown relative motion. The motivating scenario is that of proximity operations ...

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