Browsing Unmanned Aerial Vehicle (UAV) by Title
Now showing items 1-20 of 118
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3D Obstacle Avoidance in Adversarial Environments for Unmanned Aerial Vehicles.
(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 ... -
3D Obstacle Detection Using a Single Camera
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2009-08)This paper aims at detecting obstacles using a single camera in an unknown three dimensional world, for 3D motion of an unmanned air vehicle. Obstacle detection is a pre-requisite for collision-free motion of a UAV through ... -
Adaptive Flight Control for an Autonomous Unmanned Helicopter
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2002-08)For autonomous helicopter flight, it is common to separate the flight control problem into an innerloop that controls attitude and an outerloop that controls the trajectory of the helicopter. The outerloop generates ... -
Adaptive Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions
(Georgia Institute of Technology, 2013-08)In this paper, we propose a nonlinear adaptive position and attitude tracking controller for a rigid body that requires no information about the mass and inertia matrix of the body. Moreover, we provide su cient conditions ... -
Adaptive Neural Network Flight Control Using both Current and Recorded Data
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-08)Modern aerospace vehicles are expected to perform beyond their conventional flight envelopes and exhibit the robustness and adaptability to operate in uncertain environments. Augmenting proven lower level control algorithms ... -
Adaptive Position and Attitude Tracking Controller for Satellite Proximity Operations using Dual Quaternions
(Georgia Institute of Technology, 2013-08)In this paper, we propose a nonlinear adaptive position and attitude tracking controller for satellite proximity operations. This controller requires no information about the mass and inertia matrix of the satellite, and ... -
Adaptive Position and Attitude-Tracking Controller for Satellite Proximity Operations Using Dual Quaternions
(Georgia Institute of Technology, 2015)This paper proposes a nonlinear adaptive position and attitude tracking controller for satellite proximity operations between a target and a chaser satellite. The controller requires no information about the mass and inertia ... -
Adaptive Trajectory Control for Autonomous Helicopters
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2005)For autonomous helicopter flight, it is common to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the translational trajectory of the helicopter. In previous ... -
Approaches to Vision-Based Formation Control
(Georgia Institute of TechnologyIEEE, 2004-12)This paper implements several methods for performing vision-based formation flight control of multiple aircraft in the presence of obstacles. No information is communicated between aircraft, and only passive 2-D ... -
ASTROS: A 5DOF Experimental Platform for Research in Spacecraft Proximity Operations
(Georgia Institute of Technology, 2014-01)In this paper we summarize the technical characteristics of the Autonomous Space-craft Testing of Robotic Operations in Space (ASTROS) facility at the School of Aerospace Engineering at Georgia Tech. The experimental ... -
The Asymmetric Sinistral/Dextral Markov-Dubins Problem
(Georgia Institute of TechnologyIEEE, 2009)We consider a variation of the classical Markov-Dubins problem dealing with curvature-constrained, shortest paths in the plane with prescribed initial and terminal positions and tangents, when the lower and upper bounds ... -
An Asymmetric Version of the Two Car Pursuit-Evasion Game
(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, ... -
Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2013-04)A vision-aided inertial navigation system that enables autonomous flight of an aerial vehicle in GPS-denied environments is presented. Particularly, feature point information from a monocular vision sensor are used to ... -
Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation
(Georgia Institute of Technology, 2008-07)In this research we consider the problem of path following control for a small fixed-wing unmanned aerial vehicle (UAV). Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error ... -
Beamlet-like Data Processing for Accelerated Path-Planning Using Multiscale Information of the Environment
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-12)We consider the deterministic path-planning problem dealing with the single-pair shortest path on a given graph. We propose a multiscale version of the well known A* algorithm (m-A*), which utilizes information of the ... -
Benchmarking of UAV Guidance Systems in Nap of the Earth (NOE) Flight
(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 ... -
Beyond Quadtrees: Cell Decomposition for Path Planning using the Wavelet Transform
(Georgia Institute of TechnologyIEEE, 2007-12)Path planning techniques based on hierarchical multiresolution cell decompositions are suitable for online implementation due to their simplicity and speed of implementation. We present an efficient multiresolution cell ... -
Collaborative Mapping and Search for Autonomous Helicopters
(Georgia Institute of Technology, 2013-05)This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a multi-aircraft collaborative architecture, ... -
Collaborative Search and Pursuit for Autonomous Helicopters
(Georgia Institute of Technology, 2014-05)This paper describes recent results to develop, improve, and flight test a multi-aircraft collaborative architecture, focused on decentralized autonomous decision-making. The architecture includes a search coverage algorithm, ... -
Command Governor-Based Adaptive Control of an Autonomous Helicopter
(Georgia Institute of Technology, 2012-08)This paper presents an application of a recently developed command governor-based adaptive control framework to a high-fidelity autonomous helicopter model. This framework is based on an adaptive controller, but the ...