Now showing items 31-50 of 113

    • Efficient Approximation of Optimal High-Order Kinematic Trajectories 

      Mooney, John; Johnson, Eric N. (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 ...
    • Efficient Closed-Loop Detection and Pose Estimation for Vision-Only Relative Localization in Space with a Cooperative Target 

      Zhang, Guangcong; Vela, Patricio A.; Tsiotras, Panagiotis; Cho, Dae-Min (Georgia Institute of Technology, 2014-08)
      An integrated processing pipeline is presented for relative pose estimation of vision-only cooperative localization between two vehicles with unknown relative motion. The motivating scenario is that of proximity operations ...
    • Estimation and Guidance Strategies for Vision-based Target Tracking 

      Calise, Anthony J.; Johnson, Eric N.; Sattigeri, Ramachandra J.; Watanabe, Yoko; Madyastha, Venkatesh (Georgia Institute of TechnologyAACC, 2005-06)
      This paper discusses estimation and guidance strategies for vision-based target tracking. Specific applications include formation control of multiple unmanned aerial vehicles (UAVs) and air-to-air refueling. We assume that ...
    • Feedback Navigation in an Uncertain Flow Field and Connections with Pursuit Strategies 

      Bakolas, Efstathios; Tsiotras, Panagiotis (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2012)
      This paper presents several classes of control laws for steering an agent, that is, an aerial or marine vehicle, in the presence of a both temporally and spatially varying drift field induced by local winds/currents. The ...
    • Flight Results of Autonomous Fixed-Wing UAV Transitions to and from Stationary Hover 

      Johnson, Eric N.; Turbe, Michael A.; Wu, Allen D.; Kannan, Suresh K.; Neidhoefer, James C. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2006-08)
      Fixed-wing unmanned aerial vehicles (UAVs) with the ability to hover have significant potential for applications in urban or other constrained environments where the combination of fast speed, endurance, and stable ...
    • Flight Test Results of Autonomous Fixed-Wing Transition to and from Stationary Hover 

      Johnson, Eric N.; Turbe, Michael A.; Wu, Allen D.; Kannan, Suresh K.; Neidhoefer, James C. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, 2008-03)
      Linear systems can be used to adequately model and control an aircraft in either ideal steady-level flight or in ideal hovering flight. However, constructing a single unified system capable of adequately modeling or ...
    • Flight Test Validation of a Neural Network based Long Term Learning Adaptive Flight Controller 

      Chowdhary, Girish; Johnson, Eric N. (Georgia Institute of TechnologyAmerican Institute of Aeronautics and Astronautics, Inc., 2009-08)
      The purpose of this paper is to present and analyze flight test results of a Long Term Learning Adaptive Flight Controller implemented on a rotorcraft and a fixed wing Unmanned Aerial Vehicle. The adaptive control ...
    • Flight Testing of Nap of-the-Earth Unmanned Helicopter Systems 

      Johnson, Eric N.; Mooney, John G.; Ong, Chester; Sahasrabudhe, Vineet; Hartman, Jonathan (Georgia Institute of Technology, 2011-05)
      This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, ...
    • Fourteen Years of Autonomous Rotorcraft Research at the Georgia Institute of Technology 

      Johnson, Eric N.; Mooney, John G.; Christophersen, Henrik B. (Georgia Institute of Technology, 2013)
      This paper presents a brief history and description of capabilities of the Georgia Tech Unmanned Aerial Vehicle Research Facility, while extracting and summarizing many significant and applicable results produced in the ...
    • Fuel-Economic Flight Optimization for Descent and Approach Phases 

      Zhao, Yiming; Tsiotras, Panagiotis (Georgia Institute of Technology, 2013-08)
      This paper presents a computationally efficient flight optimization method for improving the fuel economy of a fixed-wing aircraft following a landing path during the descent and approach phases. The problem is converted ...
    • Georgia Tech Aerial Robotics Team: 2009 International Aerial Robotics Competition Entry 

      Chowdhary, Girish; Christmann, Hans Claus; Johnson, Eric N.; Salaün, Erwan; Sobers, D. Michael Jr. (Georgia Institute of Technology, 2009-07)
      This paper examines the use of low-cost range and target identification sensors on a stable flying vehicle for suitability in solving the 5th Mission proposed for the 2009 International Aerial Robotics Competition. The ...
    • Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition 

      Chowdhary, Girish; Magree, Daniel; Bershadsky, Dmitry; Dyer, Timothy; George, Eohan; Hashimoto, Hiroyuki; Kalghatgi, Roshan; Johnson, Eric N. (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) ...
    • Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition 

      Magree, Daniel; Bershadsky, Dmitry; Wang, Xo; Valdez, Pierre; Antico, Jason; Coder, Ryan; Dyer, Timothy; George, Eohan; Johnson, Eric N. (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 2013 AUVSI International Aerial Robotics Competition 

      Magree, Daniel; Bershadsky, Dmitry; Costes, Chris; Haviland, Stephen; Sanz, David; Kim, Eric; Valdez, Pierre; Dyer, Timothy; Johnson, Eric N. (Georgia Institute of Technology, 2013-08)
    • GPS-denied Indoor and Outdoor Monocular Vision Aided Navigation and Control of Unmanned Aircraft 

      Chowdhary, Girish; Johnson, Eric N.; Magree, Daniel; Wu, Allen; Shein, Andy (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 ...
    • Guidance, Navigation, Control, and Operator Interfaces for Small Rapid Response Unmanned Helicopters 

      Christmann, Hans Claus; Christophersen, Henrik B.; Wu, Allen D.; Johnson, Eric N. (Georgia Institute of Technology, 2008-04)
      This paper focuses on the development of small rapid response reconnaissance unmanned helicopters (1 to 3 kg, electric), for use by the military in urban areas and by civilian first responders, in terms of system ...
    • Hierarchical motion planning with kinodynamic feasibility guarantees: Local trajectory planning via model predictive control 

      Cowlagi, Raghvendra V.; Tsiotras, Panagiotis (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 ...
    • A Hierarchical On-Line Path-Planning Scheme Using Wavelets 

      Tsiotras, Panagiotis; Bakolas, Efstathios (Georgia Institute of Technology, 2007-07)
      We present an algorithm for solving the shortest (collision-free) path planning problem for an agent (e.g., wheeled vehicle, UAV) operating in a partially known environment. The agent has detailed knowledge of ...
    • High Performance Nap-of-the-Earth Unmanned Helicopter Flight 

      Johnson, Eric N.; Mooney, John G.; Ong, Chester; Sahasrabudhe, Vineet; Hartman, Jonathan (Georgia Institute of Technology, 2011)
      This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a sensor, guidance, navigation, control, and ...
    • An ILS Inspired Approach and Departure System Utilizing Monocular Vision 

      Christmann, Hans Claus; Johnson, Eric N. (Georgia Institute of Technology, 2009-07)
      This paper introduces a simple system to provide relative position between a base unit and an active unit. The proposed system is directional and allows the active unit to approach or depart from the base unit along a ...