Now showing items 10-29 of 99

    • Bank-to-Turn Control for a Small UAV using Backstepping and Parameter Adaptation 

      Jung, Dongwon; Tsiotras, Panagiotis (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 

      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 ...
    • Beyond Quadtrees: Cell Decomposition for Path Planning using the Wavelet Transform 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (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 

      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, ...
    • 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 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 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 Development of a Low-Cost Test-Bed for Undergraduate Education in UAVs 

      Jung, Dongwon; Jevy, E. J.; Zhou, D.; Fink, R.; Moshe, J.; Earl, A.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2005)
      This article describes the efforts undertaken at the School of Aerospace Engineering at the Georgia Institute of Technology for the development of a low-cost Unmanned Aerial Vehicle (UAV) test-bed for educational purposes. ...
    • 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 ...
    • Design, Development, and Testing of a Low Cost, Fully Autonomous Indoor Unmanned Aerial System 

      Chowdhary, Girish; Sobers, D. Michael Jr.; Salaün, Erwan; Ottander, John; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2010-08)
      This paper is concerned with the design, development, and autonomous flight testing of the GT Lama indoor Unmanned Aerial System (UAS). The GT Lama is a fully autonomous rotorcraft UAS capable of indoor area exploration. ...
    • Development and Evaluation of an Automated Path Planning Aid 

      Watts, Robert; Christmann, Hans Claus; Johnson, Eric N.; Feigh, Karen; Panagiotis, Tsiotras (Georgia Institute of Technology.American Institute of Aeronautics and Astronautics (AIAA), 2012-11)
      Handling en route emergencies in modern transport aircraft through adequate teamwork between the pilot, the crew and the aircraft’s automation systems is an ongoing and active field of research. An automated path planning ...
    • 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 ...
    • 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 ...
    • 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 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 ...
    • 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 ...