Recent Submissions

  • Vision-Based Optimal Landing On a Moving Platform 

    Nakamura, Takuma; Haviland, Stephen; Bershadsky, Dmitry; Johnson, Eric N. (Georgia Institute of Technology, 2016-05)
    This paper describes a vision-based control architecture designed to enable autonomous landing on a moving platform. The landing trajectory is generated by using the receding-horizon differential dynamic programming (DDP), ...
  • Vision-Based Closed-Loop Tracking Using Micro Air Vehicles 

    Nakamura, Takuma; Haviland, Stephen; Bershadsky, Dmitry; NodeIn, Daniel Magree; Johnson, Eric N. (Georgia Institute of Technology, 2016)
    This paper describes the target detection and tracking architecture used by the Georgia Tech Aerial Robotics team for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) challenge. The vision system described ...
  • 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 ...
  • Rigid body motion tracking without linear and angular velocity feedback using dual quaternions 

    Filipe, Nuno; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-06)
    This paper takes advantage of a new, recently proposed representation of the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position ...
  • Time-Optimal Vehicle Posture Control to Mitigate Unavoidable Collisions Using Conventional Control Inputs 

    Chakraborty, Imon; Tsiotras, Panagiotis; Sanz-Diaz, Ricardo (Georgia Institute of Technology, 2013-06)
    This paper analyzes the mitigation of an unavoidable T-bone collision, where an “intelligent” vehicle executes an aggressive time-optimal rotation to achieve a favorable relative orientation with another vehicle prior to ...
  • Speed Profile Optimization for Optimal Path Tracking 

    Zhao, Yiming; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-11)
    In this paper, we study the problem of minimum-time, and minimum-energy speed profile optimization along a given path, which is a key step for solving the optimal path tracking problems for a particular class of dynamical ...
  • Simultaneous Position and Attitude Control Without Linear and Angular Velocity Feedback Using Dual Quaternions 

    Filipe, Nuno; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-06)
    In this paper, we suggest a new representation for the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that with this representation it is relatively ...

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