Unmanned Aerial Vehicle (UAV) Publications: Recent submissions
Now showing items 1-20 of 104
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The Semi-Coaxial Multirotor
(2018-05)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 ... -
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, ... -
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 ... -
Vision-Based Optimal Landing On a Moving Platform
(Georgia Institute of Technology, 2016-05)This paper describes a vision-based control architecture designed to enable autonomous landing on a moving platform. The landing trajectory is generated by using the receding-horizon differential dynamic programming (DDP), ... -
Vision-Based Closed-Loop Tracking Using Micro Air Vehicles
(Georgia Institute of Technology, 2016)This paper describes the target detection and tracking architecture used by the Georgia Tech Aerial Robotics team for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) challenge. The vision system described ... -
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 ... -
Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 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 ... -
Visibility Cues for Communication Aware Guidance in Cluttered Environments
(Georgia Institute of TechnologySpringer Berlin Heidelberg, 2011)This paper presents the usage of visibility based guidance cues in order to find waypoints useful for maintaining communication in a multi UAV (Uninhabited Aerial Vehicle), single operator system. Based upon the overlay ... -
A Language for Describing Agent Behavior as Hybrid Models
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2009-08)Air Traffic conflict detection and resolution (CDR) involves multiple domains, the modeling of physical systems such as aircraft, encoding conflict detection algorithms as well as the procedures(tasks) for conflict ... -
Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS
(Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 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 ... -
A Comprehensive Matrix of Unmanned Aerial Systems Requirements for Potential Applications within a Department of Transportation
(Georgia Institute of TechnologyAmerican Society of Civil Engineers, 2014)The continuous improvement in the function and performance of Unmanned Aerial Systems (UASs) promotes the need for specific research to integrate this leading edge technology in to various applications across ... -
A Simulation Engine to Predict Multi-Agent Work in Complex, Dynamic, Heterogeneous Systems
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-02)This paper documents a simulation engine developed to accurately and efficiently simulate work by multiple agents in complex dynamic systems. Agents (human or mechanical) are modeled as responding to, and ... -
Benchmarking of UAV Guidance Systems in Nap of the Earth (NOE) Flight
(Georgia Institute of Technology, 2014-05)This paper describes the development of a proposed framework of metrics for the evaluation of the performance of aircraft guidance systems. The methodologies and metrics developed remain generally agnostic to whether or ... -
Development of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigation
(Georgia Institute of Technology, 2015-05)This paper presents the work and related research done in preparation for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) Student Challenge. The described MAV operates without human interaction in search ... -
Georgia Tech Team Entry for the 2013 AUVSI International Aerial Robotics Competition
(Georgia Institute of Technology, 2013-08) -
Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition
(Georgia Institute of Technology, 2012-08)This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A Simultaneous Localization and Mapping (SLAM) algorithm ... -
Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition
(Georgia Institute of Technology, 2011-08)his paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. An elaborate Simultaneous Localization and Mapping (SLAM) ... -
Situational and Terrain Awareness and Warning System Implementation on Android Smartphone for Manned Aviation Applications
(Georgia Institute of Technology, 2014-01)General aviation (GA) aircraft are for the most part not equipped with situational awareness or alerting systems, namely in terms of traffic or terrain collision. This is largely due to lack of regulatory requirements, but ... -
Indoor GPS-denied Context Based SLAM Aided Guidance for Autonomous Unmanned Aerial Systems
(Georgia Institute of Technology, 2013-08)Autonomous exploration and mapping of environments is an important problem in robotics. Efficient exploration of structured environments requires that the robot utilize region-specific exploration strategies and coordinate ... -
Rigid body motion tracking without linear and angular velocity feedback using dual quaternions
(Georgia Institute of Technology, 2013-06)This paper takes advantage of a new, recently proposed representation of the combined translational and rotational dynamic equations of motion of a rigid body in terms of dual quaternions. We show that combined position ...