Now showing items 1-10 of 104
Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS
(Georgia Institute of Technology, 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 ...
Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation
(Georgia Institute of Technology, 2012-11)
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 ...
The Semi-Coaxial Multirotor
The ”semi-coaxial” multirotor configuration is presented including its advantages over the conventional coaxial rotor configuration. The semi-coaxial configuration retains the benefits of the coaxial configuration, and ...
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 ...
GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft
(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 ...
Development and Evaluation of an Automated Path Planning Aid
(Georgia Institute of Technology.American Institute of Aeronautics and Astronautics (AIAA), 2012-11)
Handling en route emergencies in modern transport aircraft through adequate teamwork between the pilot, the crew and the aircraft’s automation systems is an ongoing and active field of research. An automated path planning ...
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 ...
Georgia Tech Team Entry for the 2013 AUVSI International Aerial Robotics Competition
(Georgia Institute of Technology, 2013-08)