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This paper describes a complete six-degree-of-freedom nonlinear mathematical model of a tilt rotor unmanned aerial vehicle (UAV). The model is specifically tailored for the design of a hover to forward flight and forward flight to hover transition control system. In that respect, the model includes the aerodynamic effect of propeller-induced airstream which is a function of cruise speed, tilt angle...
In this work, we focus on solving large-scale UAV fleets scheduling problem in dynamically changing (i.e. external event-driven or operator induced selection) scenarios. This autonomous scheduling of planned tasks and allocation of resources is designed to provide real-time decision support to the operator for problem sizes that is intractable or infeasible by one or a set of operators. We begin by...
This paper discusses the structure of a multi modal control framework for generation and control of aggressive maneuver profiles for agile unmanned vehicles. It is shown that any arbitrary flight maneuver can be decomposed into simpler flight modes and modal parameters, which are derived from combat maneuvers and aerobatics. Feasible maneuver generation problem is complicated by both sequence of the...
In this work, we consider the design of a nonlinear control system for an unmanned combat air vehicle for executing agile maneuvers over the full flight envelope. From the inspection of well known smooth aerobatic and combat maneuvers, we see that complex maneuvers can be decomposed into a specific set of different sub maneuvers to cover any arbitrary flight maneuver. To control each sub mode an inner/outer...
This paper presents a strategy for improving motion planning of an unmanned helicopter flying in a dense and complex city-like environment. Although Sampling Based Motion planning algorithms have shown success in many robotic problems, problems that exhibit ldquonarrow passagerdquo properties involving kinodynamic planning of high dimensional vehicles like aerial vehicles still present computational...
ITU-pSAT I is the first student designed pico-satellite of Turkey to be launched in 2008 as a part of the international CubeSat program. It carries two experimental payloads; a low-resolution camera with onboard image pre-processing, and passive magnetic stabilization with a magnetic rod accompanied by a sensor board to examine its performance. The design philosophy of pSAT I aims for a reliable and...
Aricopter is a COTS micro-helicopter heavily modified for research on embedded flight and vision controls, and distributed autonomy. In this work, we present an overview of the exciting development process of the flight hardware, the micro-avionics system, and the off-board vision implementations.
In this work, we present a micro-avionics system structured around the controller area network (CAN) bus data backbone. The system is designed to be cross-compatible across our experimental mini-helicopters and ground vehicles, and it is tailored to allow autonomous navigation and control for a variety of different research test cases. The expandable architecture deploys a hybrid selection of COTS...
Distributed spacecraft systems is envisioned to provide the technology platform to extend, improve and enable mission concepts such as wide aperture radars for high-precision space-borne surveillance, 3D mapping of Earth's magnetic field and even deep-space interferometry to better understand the origins of the universe. However, a mission with a fully autonomous spacecraft fleet flying in close-proximity...
In this work, we illustrate a new decentralized optimization method for inventory control across large-scale supply-chains. The decentralized optimization method and the coordination algorithm provide a convenient approach to find the cooperative solution that is best for the whole supply-chain. Specifically, the scheme does not require each company to have explicit knowledge about the individual...
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