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This paper presents a novel Iterated Extended Set Membership Filter (IESMF) with an application to relative localization. For safe operation of formations of automatic vehicles, consistent uncertainty estimates are of crucial importance. Here, a localization filter that provides ellipsoidal regions that are guaranteed to contain another vehicles position is presented. The proposed iterative update...
This work focuses on the remote sensing of thermal updrafts under cumulus clouds for glider UAVs. Previous remote estimation techniques assume unlimited thermal lifespans under the clouds. Naturally occuring thermals are however of limited duration which increases the risk of an outlanding when utilizing these methods. By observing the evolution of the cloud's diameter, human glider pilots draw conclusions...
In this work, a vision-based Flight Guidance and Navigation System is developed for providing cross-country soaring functionality to a small UAV glider. The overall system is based on existing major contributions to autonomous soaring while still missing components have been designed. A cumulus-cloud mapping algorithm was extended to not only estimate the position of cumuli but also their drift velocity...
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