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In this paper a nonlinear control has been designed using the dynamic inversion approach for automatic landing of unmanned aerial vehicles (UAVs), along with associated path planning. This is a difficult problem because of light weight of UAVs and strong coupling between longitudinal and lateral modes. The landing maneuver of the UAV is divided into approach, glideslope and flare. In the approach...
When operating in partially-known environments, autonomous vehicles must constantly update their maps and plans based on new sensor information. Much focus has been placed on developing efficient incremental planning algorithms that are able to efficiently replan when the map and associated cost function changes. However, much less attention has been placed on efficiently updating the cost function...
The extensive recent research in protocols development for wireless networks must be complemented with simple yet efficient prototyping and evaluation mechanism. MiNT-2 is a miniaturized multihop wireless network testbed that addresses this challenge by combining the benefits of existing protocol evaluations strategies: simulations and custom built large scale wireless network testbeds. A key component...
Clustering algorithms in wireless sensor network are used to save energy consumption. Existing clustering algorithms did not consider the energy optimization inside the clusters and they created new clusters once the cluster head of a cluster becomes dead. The removal and creation of new clusters create communication overhead. Here we propose a clustering algorithm for specific area of deployment...
In this paper, we propose a novel spatio-temporal video retrieval model to extract spatio-temporal attributes for semantic video category classification using high-level reasoning of video objects and scenes. We also explore the semantic logical inference learning of video attributes based on interpreting camera movements and object spatial constraints, as well the views on temporal continuity of...
A mobile robot we have developed is equipped with sensors to measure range to landmarks and can simultaneously localize itself as well as locate the landmarks. This modality is useful in those cases where environmental conditions preclude measurement of bearing (typically done optically) to landmarks. Here we extend the paradigm to consider the case where the landmarks (nodes of a sensor network)...
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