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Design and Development of a Low-Cost Test-Bed for Undergraduate Education in UAVs
(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. ...
Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control
(Georgia Institute of Technology, 2012-05)
Motion planners for autonomous vehicles often involve a two-level hierarchical structure consisting of a high-level, discrete planner and a low-level trajectory generation scheme. To ensure compatibility between these two ...
Optimal Motion Planning with the Half-Car Dynamical Model for Autonomous High-Speed Driving
(Georgia Institute of Technology, 2013-06)
We discuss an implementation of the RRT* optimal motion planning algorithm for the half-car dynamical model to enable autonomous high-speed driving. To develop fast solutions of the associated local steering problem, we ...
Optimal Feedback Guidance of a Small Aerial Vehicle in the Presence of Stochastic Wind
(Georgia Institute of Technology, 2013)
The navigation of a small unmanned aerial vehicle is challenging due to a large influence of wind to its kinematics.
When the kinematic model is reduced to two dimensions, it has the form of the Dubins kinematic vehicle ...
Performance Analysis of Three Cost Policies for the Control of a Camera in Relative Circumnavigation Scenarios
(Georgia Institute of Technology, 2016-09)
In this paper, we address the relative navigation problem of a chaser circumnavigating a target. The chaser has an on-board camera and observes a set of features on the target; the goal is to obtain a detailed map of the ...
Kinematic Feasibility Guarantees in Geometric Path Planning Using History-based Transition Costs over Cell Decompositions
(Georgia Institute of Technology, 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 ...
Mathematic Models for Aircraft Trajectory Design: A Survey
(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 ...
Vision-Based Attitude Determination Using A SLAM Algorithm During Relative Circumnavigation Of Non-cooperative Objects
(Georgia Institute of Technology, 2016-09)
We approach the problem of a chaser satellite circumnavigating a target object in a
relative orbit. The objective is to obtain a map of the scenario and to measure the reciprocal
position of the chaser-target pair, ...
Modelling and Hardware-in-the-Loop Simulation for a Small Unmanned Aerial Vehicle
(Georgia Institute of Technology, 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 Hierarchical On-Line Path-Planning Scheme Using Wavelets
(Georgia Institute of Technology, 2007-07)
We present an algorithm for solving the shortest
(collision-free) path planning problem for an agent (e.g.,
wheeled vehicle, UAV) operating in a partially known
environment. The agent has detailed knowledge of ...