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    Collaborative Search and Pursuit for Autonomous Helicopters

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    GTUAVAHSForum14.pdf (5.943Mb)
    Date
    2014-05
    Author
    Johnson, Eric N.
    Mooney, John G.
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    Abstract
    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, behavior estimation, and a pursuit algorithm designed to solve a scenario-driven challenge problem. The architecture was implemented on a pair of Yamaha RMAX helicopters outfitted with modular avionics, as well as an associated set of simulation tools. Simulation and flight test results for single- and multiple- aircraft scenarios are presented. Further work suggested includes identification and development of more sophisticated methods that can replace the simpler elements in modular fashion.
    URI
    http://hdl.handle.net/1853/51956
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    • School of Aerospace Engineering Publications & Presentations [50]
    • Unmanned Aerial Vehicle (UAV) [118]
    • Unmanned Aerial Vehicle (UAV) Publications [104]

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