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Full-Text Articles in Engineering
Methods And Metrics For Human Control Of Multi-Robot Teams, Jeffrey D. Anderson
Methods And Metrics For Human Control Of Multi-Robot Teams, Jeffrey D. Anderson
Theses and Dissertations
Human-controlled robots are utilized in many situations and such use is becoming widespread. This thesis details research that allows a single human to interact with a team of robots performing tasks that require cooperation. The research provides insight into effective interaction design methods and appropriate interface techniques. The use of team-level autonomy is shown to decrease human workload while simultaneously improving individual robot efficiency and robot-team cooperation. An indoor human-robot interaction testbed was developed at the BYU MAGICC Lab to facilitate experimentation. The testbed consists of eight robots equipped with wireless modems, a field on which the robots move, an …
Obstacle Avoidance For Small Unmanned Air Vehicles, Brandon R. Call
Obstacle Avoidance For Small Unmanned Air Vehicles, Brandon R. Call
Theses and Dissertations
Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. These UAVs can be given the capability to navigate in uncertain environments if obstacles are identified. This research presents an obstacle avoidance system for small UAVs. First, a mission waypoint path is created that avoids all known obstacles using a genetic algorithm. Then, while the UAV is in flight, obstacles are detected using a forward looking, onboard camera. Image features are found using the Harris Corner Detector and tracked through multiple video frames which provides three dimensional localization of the features. A sparse three dimensional …
Situational Awareness And Synthetic Vision For Unmanned Aerial Vehicle Flight Testing, Joseph M. Dugan
Situational Awareness And Synthetic Vision For Unmanned Aerial Vehicle Flight Testing, Joseph M. Dugan
Theses and Dissertations
The Advanced Navigation Technology (ANT) Center at the Air Force Institute of Technology (AFIT) is currently exploring ways to develop and advance the employment of autonomous Unmanned Aerial Vehicles (UAV) by the Department of Defense for military purposes. The research in this thesis describes the development of a tool that enhances situational awareness and provides synthetic vision in a program called the Aviator Visual Display Simulator (AVDS) during UAV flight. During flight testing, the Situational Awareness and Synthetic Vision Relay Tool (SASVRT) developed provides the test coordinator and pilot, as well as the safety observers, with the most pertinent information …