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Full-Text Articles in Navigation, Guidance, Control and Dynamics

State Omniscience For Cooperative Local Catalog Maintenance Of Close Proximity Satellite Systems, Chris Hays Apr 2024

State Omniscience For Cooperative Local Catalog Maintenance Of Close Proximity Satellite Systems, Chris Hays

Doctoral Dissertations and Master's Theses

Resiliency in multi-agent system navigation is reliant on the inherent ability of the system to withstand, overcome, or recover from adverse conditions and disturbances. In large part, resiliency is achieved through reducing the impact of critical failure points to the success and/or performance of the system. In this view, decentralized multi-agent architectures have become an attractive solution for multi-agent navigation, but decentralized architectures place the burden of information acquisition directly on the agents themselves. In fact, the design of distributed estimators has been a growing interest to enable complex multi-sensor/multi-agent tasks. In such scenarios, it is important that each local …


Implementation Of Path Planning Methods To Detect And Avoid Gps Signal Degradation In Urban Environments, Ayush Raminedi Apr 2024

Implementation Of Path Planning Methods To Detect And Avoid Gps Signal Degradation In Urban Environments, Ayush Raminedi

Doctoral Dissertations and Master's Theses

In the modern world, various missions are being carried out under the assistance of autonomous flight vehicles due to their ability to operate in a wide range of flight conditions. Regardless, these autonomous vehicles are prone to GPS signal loss in urban environments due to obstructions that cause scintillation, multi-path, and shadowing. These effects that decrease the GPS functionality can deteriorate the accuracy of GPS positioning causing losses in signal tracking leading to a decrease in navigation performance. These effects are modeled into the simulation environment and are used as part of the path planning algorithm to provide better navigation …


Rf Fingerprinting Unmanned Aerial Vehicles, Norah Ondus Oct 2021

Rf Fingerprinting Unmanned Aerial Vehicles, Norah Ondus

Doctoral Dissertations and Master's Theses

As unmanned aerial vehicles (UAVs) continue to become more readily available, their use in civil, military, and commercial applications is growing significantly. From aerial surveillance to search-and-rescue to package delivery the use cases of UAVs are accelerating. This accelerating popularity gives rise to numerous attack possibilities for example impersonation attacks in drone-based delivery, in a UAV swarm, etc. In order to ensure drone security, in this project we propose an authentication system based on RF fingerprinting. Specifically, we extract and use the device-specific hardware impairments embedded in the transmitted RF signal to separate the identity of each UAV. To achieve …


Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS Jan 2013

Dynamics And Control Of Higher-Order Nonholonomic Systems, Jaime Rubio HerváS

Doctoral Dissertations and Master's Theses

A theoretical framework is established for the control of higher-order nonholonomic systems, defined as systems that satisfy higher-order nonintegrable constraints. A model for such systems is developed in terms of differential-algebraic equations defined on a higher-order tangent bundle. A number of control-theoretic properties such as nonintegrability, controllability, and stabilizability are presented. Higher-order nonholonomic systems are shown to be strongly accessible and, under certain conditions, small time locally controllable at any equilibrium. There are important examples of higher-order nonholonomic systems that are asymptotically stabilizable via smooth feedback, including space vehicles with multiple slosh modes and Prismatic-Prismatic-Revolute (PPR) robots moving open liquid …