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On the Generation of Nearly Optimal, Planar Paths of Bounded Curvature and Curvature Gradient
(Georgia Institute of Technology, 2009)
We present a numerically efficient scheme to generate
a family of path primitives that can be used to construct
paths that take into consideration point-wise constraints on both
the curvature and its derivative. The ...
System Integration and Operation of a Research Unmanned Aerial Vehicle
(Georgia Institute of Technology, 2004-01)
The use of flight simulation tools to reduce the schedule, risk, and required
amount of flight-testing for complex aerospace systems is a well-recognized benefit of
these approaches. However, some special challenges arise ...
Real-time Implementation and Validation of a New Hierarchical Path Planning Scheme for UAVs via Hardware-in-the-Loop Simulation
(Georgia Institute of Technology, 2009)
We develop a hierarchical path planning and control algorithm for a small
fixed-wing UAV. Incorporating the hardware-in-the-loop (HIL) simulation environment, the hierarchical path planning and control algorithm has been ...
The Asymmetric Sinistral/Dextral Markov-Dubins Problem
(Georgia Institute of Technology, 2009)
We consider a variation of the classical Markov-Dubins problem dealing with curvature-constrained, shortest paths in the plane with prescribed initial and terminal positions and tangents, when the lower and upper bounds ...
Guidance, Navigation, Control, and Operator Interfaces for Small Rapid Response Unmanned Helicopters
(Georgia Institute of Technology, 2008-04)
This paper focuses on the development of small rapid response reconnaissance unmanned
helicopters (1 to 3 kg, electric), for use by the military in urban areas and by civilian first
responders, in terms of system ...
Flight Results of Autonomous Fixed-Wing UAV Transitions to and from Stationary Hover
(Georgia Institute of Technology, 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 ...
UAS Reference Scenarios for MANET Development
(Georgia Institute of Technology, 2008-08)
After autonomous flight for Unmanned Aerial Vehicles (UAVs) has been accomplished,
research was stipulated to look into application related challenges in connection with Unmanned
Aerial Systems (UAS). As one possible ...
Design and Implementation of a Self-configuring Ad-hoc Network for Unmanned Aerial Systems
(Georgia Institute of Technology, 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 ...
Approaches to Vision-Based Formation Control
(Georgia Institute of Technology, 2004-12)
This paper implements several methods for
performing vision-based formation flight control of multiple
aircraft in the presence of obstacles. No information is
communicated between aircraft, and only passive 2-D ...
Real-Time Vision-Based Relative Aircraft Navigation
(Georgia Institute of Technology, 2007-03)
This paper describes two vision-based techniques for the navigation of an aircraft relative
to an airborne target using only information from a single camera fixed to the aircraft. These
techniques are motivated by ...