Now showing items 1-20 of 71

    • 3D Obstacle Detection Using a Single Camera 

      Shah, Syed Irtiza Ali; Johnson, Eric N. (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 Model-Independent Tracking of Rigid Body Position and Attitude Motion with Mass and Inertia Matrix Identification using Dual Quaternions 

      Filipe, Nuno; Tsiotras, Panagiotis (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 

      Chowdhary, Girish; Johnson, Eric N. (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 

      Filipe, Nuno; Tsiotras, Panagiotis (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 ...
    • Approaches to Vision-Based Formation Control 

      Johnson, Eric N.; Calise, Anthony J.; Sattigeri, Ramachandra J.; Watanabe, Yoko; Madyastha, Venkatesh (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 

      Tsiotras, Panagiotis (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 ...
    • 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, ...
    • Beamlet-like Data Processing for Accelerated Path-Planning Using Multiscale Information of the Environment 

      Lu, Yibiao; Huo, Xiaoming; Tsiotras, Panagiotis (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 

      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 ...
    • Collaborative Search and Pursuit for Autonomous Helicopters 

      Johnson, Eric N.; Mooney, John G. (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 

      Magree, Daniel; Yucelen, Tansel; Johnson, Eric N. (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 ...
    • 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 ...
    • Design and Evaluation of a Lane-Tracking Driver Steering Assist System with a Two-Point Visual Driver Model 

      Zafeiropoulos, Spyridon; Tsiotras, Panagiotis (Georgia Institute of Technology, 2014-06)
      In this paper we investigate the design of a lane-tracking driver-assist system and, in particular, its interaction with the well-known two-point visual perception driver model. We present two different driver-vehicle ...
    • Design and Implementation of a Self-configuring Ad-hoc Network for Unmanned Aerial Systems 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-10)
      Unmanned aerial vehicles (UAVs), and unmanned aerial systems (UAS) as such in general, need wireless networks in order to communicate. UAS are very flexible and hence allow for a wide range of missions by means of utilizing ...
    • 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 ...
    • Development of an Autonomous Aerial Reconnaissance System at Georgia Tech 

      Proctor, Alison A.; Kannan, Suresh K.; Raabe, Chris; Christophersen, Henrik B.; Johnson, Eric N. (Georgia Institute of Technology, 2003-07)
      The Georgia Tech aerial robotics team has developed a system to compete in the International Aerial Robotics Competition, organized by the Association for Unmanned Vehicle Systems, International. The team is a multi-disciplinary ...
    • 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 ...
    • 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 ...
    • Estimation and Guidance Strategies for Vision-based Target Tracking 

      Calise, Anthony J.; Johnson, Eric N.; Sattigeri, Ramachandra J.; Watanabe, Yoko; Madyastha, Venkatesh (Georgia Institute of TechnologyAACC, 2005-06)
      This paper discusses estimation and guidance strategies for vision-based target tracking. Specific applications include formation control of multiple unmanned aerial vehicles (UAVs) and air-to-air refueling. We assume that ...
    • Flight Results of Autonomous Fixed-Wing UAV Transitions 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, Inc., 2006-08)
      Fixed-wing unmanned aerial vehicles (UAVs) with the ability to hover have significant potential for applications in urban or other constrained environments where the combination of fast speed, endurance, and stable ...