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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray
Deeply-Integrated Feature Tracking For Embedded Navigation, Jeffery R. Gray
Theses and Dissertations
The Air Force Institute of Technology (AFIT) is investigating techniques to improve aircraft navigation using low-cost imaging and inertial sensors. Stationary features tracked within the image are used to improve the inertial navigation estimate. These features are tracked using a correspondence search between frames. Previous research investigated aiding these correspondence searches using inertial measurements (i.e., stochastic projection). While this research demonstrated the benefits of further sensor integration, it still relied on robust feature descriptors (e.g., SIFT or SURF) to obtain a reliable correspondence match in the presence of rotation and scale changes. Unfortunately, these robust feature extraction algorithms are computationally …
Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix
Model-Based Control Using Model And Mechanization Fusion Techniques For Image-Aided Navigation, Constance D. Hendrix
Theses and Dissertations
Unmanned aerial vehicles are no longer used for just reconnaissance. Current requirements call for smaller autonomous vehicles that replace the human in high-risk activities. Many times these activities are performed in GPS-degraded environments. Without GPS providing today's most accurate navigation solution, autonomous navigation in tight areas is more difficult. Today, image-aided navigation is used and other methods are explored to more accurately navigate in such areas (e.g., indoors). This thesis explores the use of inertial measurements and navigation solution updates using cameras with a model-based Linear Quadratic Gaussian controller. To demonstrate the methods behind this research, the controller will provide …
Communication Free Robot Swarming, Zachary C. Gray
Communication Free Robot Swarming, Zachary C. Gray
Theses and Dissertations
As the military use of unmanned aerial vehicles increases, a growing need for novel strategies to control these systems exists. One such method for controlling many unmanned aerial vehicles simultaneously is the through the use of swarm algorithms. This research explores a swarm robotic algorithm developed by Kadrovach implemented on Pioneer Robots in a real-world environment. An adaptation of his visual sensor is implemented using stereo vision as the primary method of sensing the environment. The swarm members are prohibited from explicitly communicating other than passively through the environment. The resulting implementation produces a communication free swarming algorithm. The algorithm …