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Real-time and 3D vision for autonomous small and micro air vehicles

T. Kanade, O. Amidi, Q. Ke
2004 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)  
Autonomous control of small and micro air vehicles (SMAV) requires precise estimation of both vehicle state and its surrounding environment.  ...  to objects and environments, in which the vehicle operates, that is critical to obstacle avoidance and mapping of the environment.  ...  INTRODUCTION One of the critical capabilities for making a small-and micro-air vehicle (SMAV) autonomous and useful is the precise estimation of the SMAV states (pose and position) and 3D mapping of its  ... 
doi:10.1109/cdc.2004.1430282 fatcat:evqsr6fujbajddu7dq2zamdhwq

Robust multi-sensor fusion for micro aerial vehicle navigation in GPS-degraded/denied environments

Andrew Chambers, Sebastian Scherer, Luke Yoder, Sezal Jain, Stephen Nuske, Sanjiv Singh
2014 2014 American Control Conference  
State estimation for Micro Air Vehicles (MAVs) is challenging because sensing instrumentation carried on-board is severely limited by weight and power constraints.  ...  Here we present a navigation system suited for use on MAVs that seamlessly fuses any combination of GPS, visual odometry, inertial measurements, and/or barometric pressure.  ...  ACKNOWLEDGMENTS The authors gratefully acknowledge Lyle Chamberlain for his help with the vehicle design and experimentation.  ... 
doi:10.1109/acc.2014.6859341 dblp:conf/amcc/ChambersSYJNS14 fatcat:ezkvcqxfsfhq5k3uw44yquacge

Indoor SLAM for Micro Aerial Vehicles Using Visual and Laser Sensor Fusion [chapter]

Elena López, Rafael Barea, Alejandro Gómez, Álvaro Saltos, Luis M. Bergasa, Eduardo J. Molinos, Abdelkrim Nemra
2015 Advances in Intelligent Systems and Computing  
This paper represents research in progress in Simultaneous Localization and Mapping (SLAM) for Micro Aerial Vehicles (MAVs) in the context of rescue and/or recognition navigation tasks in indoor environments  ...  Laser is used to obtain a local 2D map and a footprint estimation of the MAV position, while a monocular visual SLAM algorithm enlarges the pose estimation through an Extended Kalman Filter (EKF).  ...  For this reason, we use a commercial platform with minor modifications, and an open-source development platform (ROS), so that drivers of sensors and some algorithms can be used without development.  ... 
doi:10.1007/978-3-319-27146-0_41 fatcat:2wnhgdevrvfdblkfxqkwx5yrze

Autonomous Flight in Unknown Indoor Environments

Abraham Bachrach, Ruijie He, Nicholas Roy
2009 International Journal of Micro Air Vehicles  
While these capabilities are already commodities on ground vehicles, air vehicles seeking the same performance face unique challenges.  ...  We then provide an overview of our solution to the key problems, including a multilevel sensing and control hierarchy, a high-speed laser scan-matching algorithm, an EKF for data fusion, a high-level SLAM  ...  Our filter is a standard EKF, implemented using the open source KFilter library 7 .  ... 
doi:10.1260/175682909790291492 fatcat:sorin56mejgt3dzypll3o2aoui

A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition

Jesus Pestana, Jose Luis Sanchez-Lopez, Paloma de la Puente, Adrian Carrio, Pascual Campoy
2014 2014 International Conference on Unmanned Aircraft Systems (ICUAS)  
Pose Estimator The "Pose Estimator" module estimates the position of the vehicle based on an altitude measurement, inertial and odometry measurements.  ...  INTRODUCTION The motivation of this work is the design of a solution to participate in the 2013 edition of the Intemational Micro Air Vehicle Flight Competition (IMAV2013).  ... 
doi:10.1109/icuas.2014.6842305 fatcat:fl2ikbj7njaedka3r3i2ovcmnm

Evolved neuromorphic radar-based altitude controller for an autonomous open-source blimp [article]

Marina González-Álvarez, Julien Dupeyroux, Federico Corradi, Guido de Croon
2022 arXiv   pre-print
Starting from the design of a lightweight, low-cost, open-source airship, we also present an SNN-based controller architecture, an evolutionary framework for training the network in a simulated environment  ...  In this paper, we propose an evolved altitude controller based on an SNN for a robotic airship which relies solely on the sensory feedback provided by an airborne radar.  ...  Open-source Micro-airship The proposed design for the micro autonomous airship is illustrated in Fig. 2 .  ... 
arXiv:2110.00646v2 fatcat:32v6isrsyfaz5nlm5v5r4fxihe

Wind gust alerting for supervisory control of a Micro Aerial Vehicle

Manal Habib, Paul W. Quimby, Stephen Chang, Kimberly Jackson, Mary L. Cummings
2011 2011 Aerospace Conference  
In this paper we present a method for estimating wind gusts and a corresponding display for increasing the situational awareness of a minimally trained operator controlling a Micro Aerial Vehicle (MAV)  ...  This technique enables existing vehicles to incorporate wind conditions into their operator displays without vehicle modification and without dedicating computation resources to flight modeling.  ...  Several techniques have been used for wind detection and estimation in MAV systems.  ... 
doi:10.1109/aero.2011.5747536 fatcat:k542sqyci5hxro2bfy7lnlymne

Development of automatic speech recognition system for voice activated Ground Control system

Kavitha S, Veena S, R Kumaraswamy
2015 2015 International Conference on Trends in Automation, Communications and Computing Technology (I-TACT-15)  
The menu items of Mission planner, a typical open source GCS used for flying of Micro Air Vehicles (MAV) are used for the experiments.  ...  The speech recognition is implemented using MATLAB and the results are validated against the Hidden Markov Model Tool Kit (HTK), an open source tool for speech recognition.  ...  I INTRODUCTION The Micro Air Vehicles (MAV) are employed in variety of missions due to their increased capability and relatively low cost with an aim of carrying out surveillance missions [1] .  ... 
doi:10.1109/itact.2015.7492684 fatcat:2spe3d2eeff7jhakodyfszjwji

System identification, estimation and control for a cost effective open-source quadcopter

Inkyu Sa, Peter Corke
2012 2012 IEEE International Conference on Robotics and Automation  
This paper describes modelling, estimation and control of the horizontal translational motion of an open-source and cost effective quadcopter -the MikroKopter.  ...  We present experimental results for the model and estimator, as well as closed-loop positioning.  ...  This is an open-source project where the mechanical, electronic and software design is available and it can be purchased in component form, as a kit or a ready-to-fly set.  ... 
doi:10.1109/icra.2012.6224896 dblp:conf/icra/SaC12 fatcat:s3rkktza5raabe6a5im4onqklu

A third-party casualty risk model for unmanned aircraft system operations

Richard Melnyk, Daniel Schrage, Vitali Volovoi, Hernando Jimenez
2014 Reliability Engineering & System Safety  
Unmanned Aircraft System (UAS) integration into the National Airspace System (NAS) is an important goal of many members of the Aerospace community including stakeholders such as the military, law enforcement  ...  This study proposes using a Target Level of Safety approach and an event tree format, populated with data from existing studies that share characteristics of UAS crashes to enable casualty prediction for  ...  To demonstrate the application of this framework, an example is provided for a 4.4 lb air vehicle.  ... 
doi:10.1016/j.ress.2013.11.016 fatcat:74vdlkyuzfd6lcasgkwxbhqjam

An Overview of the Drone Open-Source Ecosystem [article]

John Glossner, Samantha Murphy, Daniel Iancu
2021 arXiv   pre-print
In this brief survey we describe representative open-source examples for each level of the hierarchy.  ...  Electronic hardware controlling drone operation is typically accessed using an operating system. Each layer in the hierarchy has an ecosystem of open-source solutions.  ...  ACKNOWLEDGMENT The authors wish to thank the members of the Wireless Innovation Forum's Unmanned Vehicle Wireless Networking Special Interest Group for their valuable feedback on open-source projects.  ... 
arXiv:2110.02260v1 fatcat:nzvtenbyrfebjfbymp26o5wbia

Collaborative Localization for Micro Aerial Vehicles

Sai H. Vemprala, Srikanth Saripalli
2021 IEEE Access  
PROBLEM STATEMENT The main goal of the proposed framework is to estimate six degree-of-freedom poses of multiple micro aerial vehicles (MAV).  ...  Figure 7 is a visual depiction of covariance intersection fusion for data from 3 sources, from an experiment where 3 vehicles were responsible for estimating the position of a fourth on the X axis.  ... 
doi:10.1109/access.2021.3074537 fatcat:p7awnrdnnbbmxix65sdnplnkcq

GPS-optimal micro air vehicle navigation in degraded environments

Jason T. Isaacs, Ceridwen Magee, Anantharaman Subbaraman, Francois Quitin, Kingsley Fregene, Andrew R. Teel, Upamanyu Madhow, Joao P. Hespanha
2014 2014 American Control Conference  
We investigate a computationally and memory efficient algorithm for radio frequency (RF) source-seeking with a single-wing rotating micro air vehicle (MAV) operating in an urban canyon environment.  ...  Additionally, outdoor experiments using Lockheed Martin's Samarai MAV demonstrate the efficacy of this approach for static source-seeking in an urban canyon environment.  ...  We will also investigate the use of multiple MAVs as aiding sources for the localization of individuals operating in the environments.  ... 
doi:10.1109/acc.2014.6859336 dblp:conf/amcc/IsaacsMSQFTMH14 fatcat:gvnknm5lmvfvxjcel7o3en7zg4

The Phoenix Drone: An Open-Source Dual-Rotor Tail-Sitter Platform for Research and Education [article]

Yilun Wu and Xintong Du and Rikky Duivenvoorden and Jonathan Kelly
2019 arXiv   pre-print
In this paper, we introduce the Phoenix drone: the first completely open-source tail-sitter micro aerial vehicle (MAV) platform.  ...  In particular, the details in this paper and the available open-source materials should enable learners to gain an understanding of aerodynamics, flight control, state estimation, software design, and  ...  ACKNOWLEDGEMENTS The authors would like to thank the Aerospace Mechatronics Laboratory at McGill University for providing access to their load cell to conduct our dynamic modelling experiments.  ... 
arXiv:1810.03196v2 fatcat:vqwdxmuivberxokwma4u3grbla

Towards Palm-Size Autonomous Helicopters [chapter]

Samir Bouabdallah, Christian Bermes, Slawomir Grzonka, Christiane Gimkiewicz, Alain Brenzikofer, Robert Hahn, Dario Schafroth, Giorgio Grisetti, Wolfram Burgard, Roland Siegwart
2010 Unmanned Aerial Vehicles  
This spanned from system-level integration, high efficiency micro-actuation, highly integrated micro vision sensors and IMUs and also low processing power navigation algorithms.  ...  muFly EU project started in 2006 with the idea to build an autonomous micro helicopter, comparable in size and weight to a small bird. Several scientific and technological objectives were identified.  ...  Acknowledgements This work has been supported by the EC under contract number FP6-IST-034120 Micro/Nano based Systems.  ... 
doi:10.1007/978-94-007-1110-5_27 fatcat:jmqu374dhrfare7poxkdypyply
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