Now showing items 1-20 of 21

    • 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 ...
    • Adaptive Flight Control for an Autonomous Unmanned Helicopter 

      Johnson, Eric N.; Kannan, Suresh K. (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 Position and Attitude-Tracking Controller for Satellite Proximity Operations Using Dual Quaternions 

      Filipe, Nuno; Tsiotras, Panagiotis (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 

      Johnson, Eric N.; Kannan, Suresh K. (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 ...
    • Autonomous Flight in GPS-Denied Environments Using Monocular Vision and Inertial Sensors 

      Wu, Allen D.; Johnson, Eric N.; Kaess, Michael; Dellaert, Frank; Chowdhary, Girish (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 ...
    • Collaborative Mapping and Search for Autonomous Helicopters 

      Johnson, Eric N.; Magree, Daniel P.; Mooney, John G.; White, Matthew; Hartman, Jonathan; Sahasrabudhe, Vineet (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, ...
    • A Compact Guidance, Navigation, and Control System for Unmanned Aerial Vehicles 

      Christophersen, Henrik B.; Pickell, R. Wayne; Neidhoefer, James C.; Koller, Adrian A.; Kannan, Suresh K.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-05)
      The Flight Control System 20 (FCS20) is a compact, self-contained Guidance, Navigation, and Control system that has recently been developed to enable advanced autonomous behavior in a wide range of Unmanned Aerial Vehicles ...
    • A Comparison of Automatic Nap-of-the-Earth Guidance Strategies for Helicopters 

      Johnson, Eric N.; Mooney, John G. (Georgia Institute of Technology, 2014-05)
      This paper describes updated results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and ...
    • 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 ...
    • Flight Test Results of Autonomous Fixed-Wing Transition to and from Stationary Hover 

      Johnson, Eric N.; Turbe, Michael A.; Wu, Allen D.; Kannan, Suresh K.; Neidhoefer, James C. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2008-03)
      Linear systems can be used to adequately model and control an aircraft in either ideal steady-level flight or in ideal hovering flight. However, constructing a single unified system capable of adequately modeling or ...
    • Flight Testing of Nap of-the-Earth Unmanned Helicopter Systems 

      Johnson, Eric N.; Mooney, John G.; Ong, Chester; Sahasrabudhe, Vineet; Hartman, Jonathan (Georgia Institute of Technology, 2011-05)
      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 sensor, guidance, navigation, control, ...
    • High Performance Nap-of-the-Earth Unmanned Helicopter Flight 

      Johnson, Eric N.; Mooney, John G.; Ong, Chester; Sahasrabudhe, Vineet; Hartman, Jonathan (Georgia Institute of Technology, 2011)
      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 sensor, guidance, navigation, control, and ...
    • 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 ...
    • 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 ...
    • 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 ...
    • Optimal Synthesis of the Zermelo–Markov–Dubins Problem in a Constant Drift Field 

      Bakolas, Efstathios; Tsiotra, Panagiotis (Georgia Institute of TechnologySpringer Verlag, 2012-01-16)
      We consider the optimal synthesis of the Zermelo–Markov–Dubins problem, that is, the problem of steering a vehicle with the kinematics of the Isaacs–Dubins car in minimum time in the presence of a drift field. By using ...
    • A Process to Obtain Robustness Metrics for Adaptive Flight Controllers 

      Kimbrell, Scott; Johnson, Eric N.; Chowdhary, Girish; Calise, Anthony J.; Chandramohan, Rajeev (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)
      This research effort seeks a process to draw parallels between the classical stability metrics of gain and phase margins for classical linear control systems with stability margins for adaptive controllers. The method ...
    • Real-Time Vision-Based Relative Aircraft Navigation 

      Johnson, Eric N.; Calise, Anthony J.; Watanabe, Yoko; Ha, Jin-Cheol; Neidhoefer, James C. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-03)
      This paper describes two vision-based techniques for the navigation of an aircraft relative to an airborne target using only information from a single camera fixed to the aircraft. These techniques are motivated by ...
    • Relay Pursuit of a Maneuvering Target Using Dynamic Voronoi Diagrams 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC)Elsevier, 2012-08)
      This paper addresses the problem of the pursuit of a maneuvering target by a group of pursuers distributed in the plane. This pursuit problem is solved by associating it with a Voronoi-like partitioning problem that ...
    • 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 ...