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Articles 1 - 3 of 3
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 …
Scheduling Algorithm Development For An Open Source Software And Open Hardware Spacecraft, Calvin Bina, Jeremy Straub, Ronald Marsh
Scheduling Algorithm Development For An Open Source Software And Open Hardware Spacecraft, Calvin Bina, Jeremy Straub, Ronald Marsh
Jeremy Straub
The efficacy of each type of scheduler is assessed rela-tive to the goal of having a time and resource efficient scheduling algorithm. The scheduler must ensure suc-cessful spacecraft operations and maximize the perfor-mance of tasks relative to performance constraints and their respective due dates.
Experimental Investigation Of Stochastic Parafoil Guidance Using A Graphics Processing Unit, Nathan Slegers, Andrew Brown, Jonathan Rogers
Experimental Investigation Of Stochastic Parafoil Guidance Using A Graphics Processing Unit, Nathan Slegers, Andrew Brown, Jonathan Rogers
Faculty Publications - Biomedical, Mechanical, and Civil Engineering
Control of autonomous systems subject to stochastic uncertainty is a challenging task. In guided airdrop applications, random wind disturbances play a crucial role in determining landing accuracy and terrain avoidance. This paper describes a stochastic parafoil guidance system which couples uncertainty propagation with optimal control to protect against wind and parameter uncertainty in the presence of impact area obstacles. The algorithm uses real-time Monte Carlo simulation performed on a graphics processing unit (GPU) to evaluate robustness of candidate trajectories in terms of delivery accuracy, obstacle avoidance, and other considerations. Building upon prior theoretical developments, this paper explores performance of the …