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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Cooperative 3-D Map Generation Using Multiple Uavs, Andrew Erik Lawson
Cooperative 3-D Map Generation Using Multiple Uavs, Andrew Erik Lawson
University Scholar Projects
This report aims to demonstrate the feasibility of building a global 3-D map from multiple UAV robots in a GPS-denied, indoor environment. Presented are the design of each robot and the reasoning behind choosing its hardware and software components, the process in which a single robot obtains a individual 3-D map entirely onboard, and lastly how the mapping concept is extended to multiple robotic agents to form a global 3-D map using a centralized server. In the latter section, this report focuses on two algorithms, Online Mapping and Map Fusion, developed to facilitate the cooperative approach. A limited selection …
Reducing Magneto-Inductive Positioning Errors In A Metal-Rich Indoor Environment, Orfeas Kypris, Traian Abrudan, Andrew Markham
Reducing Magneto-Inductive Positioning Errors In A Metal-Rich Indoor Environment, Orfeas Kypris, Traian Abrudan, Andrew Markham
Orfeas Kypris
Ferrous objects distort magnetic fields and can significantly increase magneto-inductive positioning errors in indoor environments. In this work, we use image theory in order to formulate an analytical channel model for the magnetic field of a quasi-static magnetic dipole positioned above a perfectly conducting half-space. The proposed model can be used to compensate for the distorting effects that metallic reinforcement bars (rebars) impose on the magnetic field of a magneto-inductive transmitter node in an indoor environment. Good agreement is observed between the analytical solution and numerical solutions obtained from 2-D finite element simulations when the transmitter node is located more …