Now showing items 60-79 of 113

    • The Markov-Dubins Problem in the Presence of a Stochastic Drift Field 

      Anderson, Ross P.; Bakolas, Efstathios; Milutinovic, Dejan; Tsiotras, Panagiotis (Georgia Institute of Technology, 2012-12)
      We consider the problem of navigating a small Dubins-type aerial or marine vehicle to a prescribed destination set in minimum expected time and in the presence of a stochastic drift field induced by local winds or currents. ...
    • Mathematic Models for Aircraft Trajectory Design: A Survey 

      Delahaye, D.; Puechmorel, S.; Feron, E.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-02)
      Air traffic management ensure the safety of flight by optimizing flows and maintaining separation between aircraft. After giving some definitions, some typical feature of aircraft trajectories are presented. Trajectories ...
    • Methodology to support dynamic function allocation polices between humans and flight deck automation 

      Johnson, Eric N. (Georgia Institute of Technology, 2010-09-30)
    • 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 ...
    • Minimum-Time Paths for a Light Aircraft in the Presence of Regionally-Varying Strong Winds 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2010)
      We consider the minimum-time path-planning problem for a small aircraft flying horizontally in the presence of obstacles and regionally-varying strong winds. The aircraft speed is not necessarily larger than the wind ...
    • Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2010-08)
      The presented work introduces a graph based approach to model urban (or otherwise cluttered) environments for UAS utilization beyond line-of-sight as well as out of direct R/F range of the operator's control station. ...
    • Modeling, Control, and Flight Testing of a Small Ducted Fan Aircraft 

      Johnson, Eric N.; Turbe, Michael A. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-07)
      Small ducted fan autonomous vehicles have potential for several applications, especially for missions in urban environments. This paper discusses the use of dynamic inversion with neural network adaptation to provide an ...
    • Modelling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-05)
      Modeling and experimental identification results for a small unmanned aerial vehicle (UAV) are presented. The numerical values of the aerodynamic derivatives are computed via the Digital DATCOM software using the geometric ...
    • A Monocular Vision-aided Inertial Navigation System with Improved Numerical Stability 

      Magree, Daniel; Johnson, Eric N. (Georgia Institute of Technology, 2015-01)
      This paper develops a monocular vision-aided inertial navigation system based on the factored extended Kalman filter (EKF) proposed by Bierman and Thornton. The simultaneous localization and mapping (SLAM) algorithm ...
    • Monocular Visual Mapping for Obstacle Avoidance on UAVs 

      Magree, Daniel; Mooney, John G.; Johnson, Eric N. (Georgia Institute of Technology, 2014-01)
      An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of ...
    • Monocular Visual Mapping for Obstacle Avoidance on UAVs 

      Magree, Daniel; Mooney, John G.; Johnson, Eric N. (Georgia Institute of Technology, 2013-05)
      An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of ...
    • Multi-resolution Path Planning: Theoretical Analysis, Efficient Implementation, and Extensions to Dynamic Environments 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)
      A multi-resolution path planning algorithm based on the wavelet transform of the environment has been reported previously in the literature. In this paper, we provide a proof of completeness of this algorithm. In addition, ...
    • Multiresolution On-Line Path Planning for Small Unmanned Aerial Vehicles 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyIEEE, 2008)
      In this article we propose a new online multiresolution path planning algorithm for a small unmanned air vehicle (UAV) with limited on-board computational resources. The proposed approach assumes that the UAV has ...
    • Multiresolution Path Planning Via Sector Decompositions Compatible to On-Board Sensor Data 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2008)
      In this paper we present a hybrid local-global path planning scheme for the problem of operating a moving agent inside an unknown environment in a collision-free manner. The path planning algorithm is based on information ...
    • Multiresolution Path Planning with Wavelets: A Local Replanning Approach 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (Georgia Institute of TechnologyIEEE, 2008)
      A path planning algorithm based on multiresolution cell decomposition of the environment using wavelets is proposed. The environment is assumed to be given by an occupancy grid at fine resolution. The algorithm constructs ...
    • Network Discovery: An Estimation Based Approach 

      Chowdhary, Girish; Egerstedt, Magnus B.; Johnson, Eric N. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)
      We consider the unaddressed problem of network discovery, in which, an agent attempts to formulate an estimate of the global network topology using only locally available information. We show that under two key assumptions, ...
    • A Note on the Consensus Protocol with Some Applications to Agent Orbit Pattern Generation 

      Tsiotras, Panagiotis; Reyes Castro, Luis I. (Georgia Institute of Technology, 2010-11)
      We propose an extension to the standard feedback control for consensus problems for multi-agent systems in the plane. The proposed extension allows for a richer class of trajectories including periodic and quasi-periodic ...
    • On the Existence and Synthesis of Curvature-Bounded Paths Inside Nonuniform Rectangular Channels 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (Georgia Institute of TechnologyIEEE, 2010)
      Motion planners for autonomous mobile vehicles that are based on rectangular cell decompositions are often required to construct kinematically feasible path – typically curvature-bounded paths – traversing rectangular ...
    • On the Generation of Nearly Optimal, Planar Paths of Bounded Curvature and Curvature Gradient 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyIEEE, 2009)
      We present a numerically efficient scheme to generate a family of path primitives that can be used to construct paths that take into consideration point-wise constraints on both the curvature and its derivative. The ...
    • On-line Path Generation for Small Unmanned Aerial Vehicles using B-Spline Path Templates 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2008)
      In this study we investigate the problem of generating a smooth, planar reference path, given a family of discrete optimal paths. In conjunction with a path representation by a finite sequence of square cells, the generated ...