Now showing items 1-12 of 12

    • 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 ...
    • 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, 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. ...
    • 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 ...
    • GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft 

      Chowdhary, Girish; Johnson, Eric N.; Magree, Daniel; Wu, Allen; Shein, Andy (Georgia Institute of Technology, 2013-05)
      GPS-denied closed-loop autonomous control of unstable Unmanned Aerial Vehicles (UAVs) such as rotorcraft using information from a monocular camera has been an open problem. Most proposed Vision aided Inertial Navigation ...
    • 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 ...
    • 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 ...
    • Performance of a Monocular Vision-aided Inertial Navigation System for a Small UAV 

      Magree, Daniel; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
      The use of optical sensors for navigation on aircraft has receive much attention recently. Optical sensors provide a wealth of information about the environment and are standard payloads for many unmanned aerial vehicles ...