Now showing items 42-61 of 99

    • An ILS Inspired Approach and Departure System Utilizing Monocular Vision 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of Technology, 2009-07)
      This paper introduces a simple system to provide relative position between a base unit and an active unit. The proposed system is directional and allows the active unit to approach or depart from the base unit along a ...
    • Improving Uniform Ultimate Bounded Response of Neuroadaptive Control Approaches Using Command Governors 

      Magree, Daniel; Yucelen, Tansel; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
      In this paper, we develop a command governor-based architecture in order to improve the response of neuroadaptive control approaches. Specifically, a command governor is a linear dynamical system that modifies a given ...
    • 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 ...
    • 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 ...
    • Inertial Attitude and Position Reference System Development for a Small UAV 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-05)
      This article presents an inexpensive inertial attitude and position reference system for a small unmanned aerial vehicle (UAV) that utilizes low cost inertial sensors in conjunction with a global positioning system (GPS) ...
    • 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 ...
    • Kinematic Feasibility Guarantees in Geometric Path Planning Using History-based Transition Costs over Cell Decompositions 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-06)
      The hierarchical decomposition of motion planning tasks into geometric path planning, followed by kinodynamic motion planning is useful for designing efficient algorithms, but it entails the possibility of inconsistency ...
    • 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 ...
    • Longitudinal Motion Planning for Slung-Loads Using Simplified Models and Rapidly-Exploring Random Trees 

      Johnson, Eric N.; Mooney, John G. (Georgia Institute of Technology, 2015-01)
      A randomized motion-planning approach to providing guidance for helicopters with under-slung loads is presented. Rapidly-exploring Random Trees are adapted to plan trajectories for simplified helicopter-load models. Four ...
    • The Markov-Dubins Problem in the Presence of a Stochastic Drift Field 

      Anderson, Ross P.; Bakolas, Efstathios; Milutinovic, Dejan; Tsiotras, Panagiotis (Georgia Institute of Technology, 2012-12)
      We consider the problem of navigating a small Dubins-type aerial or marine vehicle to a prescribed destination set in minimum expected time and in the presence of a stochastic drift field induced by local winds or currents. ...
    • Mathematic Models for Aircraft Trajectory Design: A Survey 

      Delahaye, D.; Puechmorel, S.; Feron, E.; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-02)
      Air traffic management ensure the safety of flight by optimizing flows and maintaining separation between aircraft. After giving some definitions, some typical feature of aircraft trajectories are presented. Trajectories ...
    • Methodology to support dynamic function allocation polices between humans and flight deck automation 

      Johnson, Eric N. (Georgia Institute of Technology, 2010-09-30)
    • Methods for Localization and Mapping Using Vision and Inertial Sensors 

      Wu, Allen D.; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2008-08)
      The problems of vision-based localization and mapping are currently highly active areas of research for aerial systems. With a wealth of information available in each image, vision sensors allow vehicles to gather data ...
    • Minimum-Time Paths for a Light Aircraft in the Presence of Regionally-Varying Strong Winds 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2010)
      We consider the minimum-time path-planning problem for a small aircraft flying horizontally in the presence of obstacles and regionally-varying strong winds. The aircraft speed is not necessarily larger than the wind ...
    • Modeling Urban Environments for Communication-Aware UAV Swarm Path Planning 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2010-08)
      The presented work introduces a graph based approach to model urban (or otherwise cluttered) environments for UAS utilization beyond line-of-sight as well as out of direct R/F range of the operator's control station. ...
    • 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 ...
    • Modelling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle 

      Jung, Dongwon; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2007-05)
      Modeling and experimental identification results for a small unmanned aerial vehicle (UAV) are presented. The numerical values of the aerodynamic derivatives are computed via the Digital DATCOM software using the geometric ...
    • A Monocular Vision-aided Inertial Navigation System with Improved Numerical Stability 

      Magree, Daniel; Johnson, Eric N. (Georgia Institute of Technology, 2015-01)
      This paper develops a monocular vision-aided inertial navigation system based on the factored extended Kalman filter (EKF) proposed by Bierman and Thornton. The simultaneous localization and mapping (SLAM) algorithm ...
    • Monocular Visual Mapping for Obstacle Avoidance on UAVs 

      Magree, Daniel; Mooney, John G.; Johnson, Eric N. (Georgia Institute of Technology, 2014-01)
      An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of ...
    • Monocular Visual Mapping for Obstacle Avoidance on UAVs 

      Magree, Daniel; Mooney, John G.; Johnson, Eric N. (Georgia Institute of Technology, 2013-05)
      An unmanned aerial vehicle requires adequate knowledge of its surroundings in order to operate in close proximity to obstacles. UAVs also have strict payload and power constraints which limit the number and variety of ...