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Full-Text Articles in Physical Sciences and Mathematics
Using A Mini-Uav To Support Wilderness Search And Rescue: Practices For Human-Robot Teaming, Julie A. Adams, Brian G. Buss, Joseph L. Cooper, Michael A. Goodrich, Curtis Humphrey, Ron Zeeman
Using A Mini-Uav To Support Wilderness Search And Rescue: Practices For Human-Robot Teaming, Julie A. Adams, Brian G. Buss, Joseph L. Cooper, Michael A. Goodrich, Curtis Humphrey, Ron Zeeman
Faculty Publications
Wilderness Search and Rescue can benefit from aerial imagery of the search area. Mini Unmanned Aerial Vehicles can potentially provide such imagery, provided that the autonomy, search algorithms, and operator control unit are designed to support coordinated human-robot search teams. Using results from formal analyses of the WiSAR problem domain, we summarize and discuss information flow requirements for WiSAR with an eye toward the efficient use of mUAVs to support search. We then identify and discuss three different operational paradigms for performing field searches, and identify influences that affect which human-robot team paradigm is best. Since the likely location of …
Probabilistic Searching Using A Small Unmanned Aerial Vehicle, Steven R. Hansen, Timothy W. Mclain, Michael A. Goodrich
Probabilistic Searching Using A Small Unmanned Aerial Vehicle, Steven R. Hansen, Timothy W. Mclain, Michael A. Goodrich
Faculty Publications
Ground breaking concepts in optimal search theory were developed during World War II by the U.S. Navy. These concepts use an assumed detection model to calculate a detection probability rate and an optimal search allocation. Although this theory is useful in determining when and where search effort should be applied, it offers little guidance for the planning of search paths. This paper explains how search theory can be applied to path planning for an SUAV with a fixed CCD camera. Three search strategies are developed: greedy search, contour search, and composite search. In addition, the concepts of search efficiency and …
Performance Evaluation Of Vision-Based Navigation And Landing On A Rotorcraft Unmanned Aerial Vehicle, David Hubbard, Timothy W. Mclain, Bryan S. Morse, Colin Theodore, Mark Tischler
Performance Evaluation Of Vision-Based Navigation And Landing On A Rotorcraft Unmanned Aerial Vehicle, David Hubbard, Timothy W. Mclain, Bryan S. Morse, Colin Theodore, Mark Tischler
Faculty Publications
A Rotorcraft UAV provides an ideal experimental platform for vision-based navigation. This paper describes the flight tests of the US Army PALACE project, which implements Moravec’s pseudo-normalized correlation tracking algorithm. The tracker uses the movement of the landing site in the camera, a laser range, and the aircraft attitude from an IMU to estimate the relative motion of the UAV. The position estimate functions as a GPS equivalent to enable the rotorcraft to maneuver without the aid of GPS. With GPS data as a baseline, tests were performed in simulation and in flight that measure the accuracy of the position …