Engineering Commons^™

Drone Location And Scheduling Problems In Humanitarian Logistics., Zabih Ghelichi

Electronic Theses and Dissertations

Unmanned Aerial Vehicles (UAVs), commonly referred to as drones, are a promising technology for the last-mile delivery of medical and aid items in humanitarian logistics. In emergency scenarios, like disasters, where transportation networks are destroyed and people are stranded, drones can accelerate the delivery of urgently needed items, e.g., food and water, insulin shots and blood pressure pills, to those trapped in the disaster-affected areas. Drones can also provide logistics services in many non-emergency situations by delivering medical items, e.g., vaccine shots and lab specimens, to remote communities and hard-to-access locations. The contribution of using UAVs goes beyond merely having …

Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett

Electronic Theses and Dissertations

As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.

The simulation handles the physics behind the vehicle flight. As …