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Flapping wings have the potential to revolutionize the field of Micro Aerial Vehicles (MAVs), however the effect of flapping motion on the performance of such wings has not been studied in detail. This paper presents a parametric study of flapping wing propulsion, using two types of passive flapping wings and three flapping motions. Each combination of wing type and flapping motion was tested over...
This paper presents the updateable probabilistic evacuation modeling (UPEM) technique, which allows sensor observation data to be included in the problem of estimating the state of an evacuating crowd, as the data are obtained. Each individual is modeled as a Newtonian particle which interacts with obstacles, such as walls and other individuals. The UPEM technique estimates not only the general trend...
Autonomous underwater vehicles (AUVs) have great advantages for activities in deep oceans, and are expected as the attractive tool for near future underwater development or investigation. However, AUVs have various problems which should be solved for motion control, acquisition of sensors' information, behavioral decision, navigation without collision, self-localization and so on. In order to realize...
This paper presents a search-and-capture (SAC) problem where multiple autonomous pursuer vehicles are deployed to capture evaders using the particle filter (PF). The PDFs of the evaders states are first represented as discrete sets of support vectors (particles). Using this representation, a coordinated SAC strategy is proposed by firstly defining the observation likelihoods for both detection and...
This paper presents a coordinated control technique that allows heterogeneous vehicles to autonomously search for and track multiple targets using recursive Bayesian filtering. A unified sensor model and a unified objective function are proposed to enable search-and-tracking (SAT) within the recursive Bayesian filter framework. The strength of the proposed technique is that a vehicle can switch its...
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