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 ...

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 ...

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 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 ...

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 ...

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 ...

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 ...

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, ...

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 ...

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 ...