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Monocular Visual Mapping for Obstacle Avoidance on UAVs
(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 ...
Modeling, Control, and Flight Testing of a Small Ducted Fan Aircraft
(Georgia Institute of Technology, 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 ...
Design, Development, and Testing of a Low Cost, Fully Autonomous Indoor Unmanned Aerial System
(Georgia Institute of Technology, 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. ...
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 ...
Command Governor-Based Adaptive Control of an Autonomous Helicopter
(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 ...
A Monocular Vision-aided Inertial Navigation System with Improved Numerical Stability
(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 ...
Efficient Approximation of Optimal High-Order Kinematic Trajectories
(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 ...
Collaborative Search and Pursuit for Autonomous Helicopters
(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, ...
Monocular Visual Mapping for Obstacle Avoidance on UAVs
(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
(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 ...