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Full-Text Articles in Engineering
System-Level Analysis Of Autonomous Uav Landing Sensitivities In Gps-Denied Environments, Terran R. Gerratt
System-Level Analysis Of Autonomous Uav Landing Sensitivities In Gps-Denied Environments, Terran R. Gerratt
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This paper presents an analysis of the navigation accuracy of an fixed-wing Unmanned Aerial Vehicle (UAV) landing on a aircraft carrier. The UAV is equipped with typical sensors used in landing scenarios. Data from the Office of Naval Research is used to accurately capture the behavior of the aircraft carrier. Through simulation, the position and orientation of both the UAV and carrier are estimated. The quality of the UAV’s sensors are varied to determine the sensitivity of these estimates to sensor accuracy. The system’s sensitivity to GPS signals and visual markers on the carrier is also analyzed. These results allow …
Full-Pose Estimation And Tracking Control For A Multi-Rotor Aircraft Package Exchange, Trent P. Smith
Full-Pose Estimation And Tracking Control For A Multi-Rotor Aircraft Package Exchange, Trent P. Smith
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
In this work, research to develop algorithms for a package exchange maneuver between two quad-rotor aircraft is presented. First, the development of tools used for this research is discussed. Second, a controller is designed that synchronizes the flight paths and motion of two quad-rotor robots. The controller is used to guide a designated follower quad-rotor to follow a leader aircraft’s position and orientation. The follower aircraft is equipped with a simple mechanical manipulator to compensate for limitations in the aircrafts maneuverability. finally, a sensor architecture study for relative navigation of Unmanned Aerial Vehicles (UAV) is presented. The architecture study presents …
Perching Using A Quadrotor With Onboard Sensing, Jeremy C. Goldin
Perching Using A Quadrotor With Onboard Sensing, Jeremy C. Goldin
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This thesis presents an implementation of autonomous indoor perching using only onboard sensors on a low-cost, custom-built quadrotor. The perching aggressive maneuver is representative of a class of control problems for aerobatics that requires an agile and robust control system for maneuvering accurately at high speeds. Such research extends the typical functionality of micro air vehicles (MAV) from low speed and stationary observation to dynamic aerobatic transitions for broader operational capabilities including confined landings and evasive maneuvering. To achieve this, three major challenges are overcome: precise and real-time positioning, sensing of the perch and path to the perch, and control …
Transmitter Localization Using Autonomous Robotic Swarms, Joshua S. Adams
Transmitter Localization Using Autonomous Robotic Swarms, Joshua S. Adams
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
The purpose of this research is to design a proof of concept system that is capable of locating a hidden radio transmitter and to investigate methods of multi-agent formation control with a specific interest in the effectiveness of these methods on the overall objective of locating this transmitter. A system is proposed and developed in which autonomous agents work together to locate this transmitter and their responsiveness is analyzed while using formations based both on a behavioral system and a system derived from centroidal Voronoi tessellations. Many software adaptations to the existing MASnet program are required, as well as some …
Autonomous Security Patrol System, Jake Erramouspe
Autonomous Security Patrol System, Jake Erramouspe
Undergraduate Honors Capstone Projects
This project provides an efficient and cost-effective solution to building security and active monitoring. The security is monitored and controlled by autonomous patrol robots. Any indication of a security breach will result in an immediate alarm and activation of the robot group to subdue and tranquilize the intruder.