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 ...

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 ...

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 ...

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) ...

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 ...

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. ...

This paper examines the use of low-cost range and target identification sensors on a stable flying vehicle for suitability in solving the 5th Mission proposed for the 2009 International Aerial Robotics Competition. The ...

The purpose of this paper is to present and analyze flight test results of a Long Term Learning Adaptive Flight Controller implemented on a rotorcraft and a fixed wing Unmanned Aerial Vehicle. The adaptive control ...

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 ...

In-flight identification of an aircraft's dynamic model can benefit adaptive control schemes by providing estimates of aerodynamic stability derivatives in real time. This information is useful when the dynamic model ...