Search results for: K.P. Valavanis

Items from 1 to 15 out of 15 results

chapter

Nonlinear backstepping control design for miniature helicopters using the rotation matrix

I.A. Raptis, K.P. Valavanis, W.A. Moreno

2009 17th Mediterranean Conference on Control and Automation > 1227 - 1232

2009 17th Mediterranean Conference on Control and Automation (MED)

This paper presents a backstepping control design for small scale helicopters. The objective is for the helicopter to autonomously track predefined position and yaw trajectories. The position reference trajectories are arbitrary, possibly aggressive, with some constraints in their higher order time derivatives. The main idea of the algorithm is to control the direction and magnitude of the thrust...

chapter

Optimized task allocation in cooperative robot teams

A. Tsalatsanis, A. Yalcin, K.P. Valavanis

2009 17th Mediterranean Conference on Control and Automation > 270 - 275

2009 17th Mediterranean Conference on Control and Automation (MED)

This paper presents a novel task allocation methodology based on supervisory control theory applicable to cooperative robot teams. A team of heterogeneous robots with different sensory capabilities is considered. The overall team's mission is decomposed into multiple tasks which are assigned to one or more robots. An evaluation function is utilized to provide optimal task allocation. The proposed...

article

Swarm Formation Control Utilizing Elliptical Surfaces and Limiting Functions

L.E. Barnes, M.A. Fields, K.P. Valavanis

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) > 2009 > 39 > 6 > 1434 - 1445

In this paper, we present a strategy for organizing swarms of unmanned vehicles into a formation by utilizing artificial potential fields that were generated from normal and sigmoid functions. These functions construct the surface on which swarm members travel, controlling the overall swarm geometry and the individual member spacing. Nonlinear limiting functions are defined to provide tighter swarm...

article

On unmanned aircraft systems issues, challenges and operational restrictions preventing integration into the National Airspace System

K. Dalamagkidis, K.P. Valavanis, L.A. Piegl

Progress in Aerospace Sciences > 2008 > 44 > 7-8 > 503-519

Commercial interest for unmanned aircraft systems (UASs) has seen a steady increase over the last decade. Nevertheless, UAS operations have remained almost exclusively military. This is mainly due to the lack of a regulatory framework that allows only limited public and civil UAS operations with usually crippling restrictions. Although efforts from the Federal Aviation Administration (FAA) and its...

chapter

A survey of unmanned aircraft systems regulation: Status and future perspectives

K. Dalamagkidis, K.P. Valavanis, L.A. Piegl

2008 16th Mediterranean Conference on Control and Automation > 717 - 723

16th Mediterranean Conference on Control & Automation, MED 2008

Any aircraft, manned or unmanned, may enter safely and legally into the US National Airspace System (NAS) provided that it has been issued an airworthiness certificate complying with Federal Aviation Administration (FAA) requirements. Unfortunately corresponding requirements, procedures and regulations for airworthiness certification of unmanned aircraft are in early development stages and flight...

chapter

Evaluating the risk of unmanned aircraft ground impacts

K. Dalamagkidis, K.P. Valavanis, L.A. Piegl

2008 16th Mediterranean Conference on Control and Automation > 709 - 716

16th Mediterranean Conference on Control & Automation, MED 2008

Currently many countries are developing regulation to allow unmanned aircraft systems (UAS) operations in their National Airspace System (NAS). Successful integration requires UAS to achieve, at a minimum, an equivalent level of safety to that of manned aviation. Safety is primarily defined in terms of the risk to human life, although potential collateral damages to property can also be taken into...

chapter

Robustification of decentralized PID control for small unmanned rotorcraft

M. Castillo-Effen, C.L. Castillo, W.A. Moreno, K.P. Valavanis

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems > 2621 - 2627

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

This paper presents a practical and simple approach to the design of autonomous flight control of miniature helicopters. It considers a standard easily tunable PID control as the starting step of the design. Then, robust loop-shaping techniques are applied to derive a controller with optimal properties with respect to robustness, noise sensitivity, and bandwidth. Comprehensive analysis and simulation...

chapter

On Improving Endurance of Unmanned Ground Vehicles: The ATRV-Jr Case Study

S. Ioannou, K. Dalamagkidis, K.P. Valavanis, E.K. Stefanakos, more

2006 14th Mediterranean Conference on Control and Automation > 1 - 6

Proceedings of the 14th Mediterranean Conference on Control and Automation

Unmanned ground vehicles (UGVs) have strict payload limitations, limited free space affecting power supply availability (number of batteries, size and volume) that impact onboard available energy resulting in limited endurance and operational range. This limitation is exacerbated by the addition of extra sensors and other related equipment needed for diverse applications. The ATRV-Jr UGV is considered...

article

A case study of fuzzy-logic-based robot navigation

K.P. Valavanis, L. Doitsidis, M. Long, R.R. Murphy

IEEE Robotics & Automation Magazine > 2006 > 13 > 3 > 93 - 107

This paper describes a multilayer, hybrid, distributed field robot architecture (DFRA) and its integration with MATLAB that is capable of supporting simple and complex functionality of heterogeneous teams of robot systems. This architecture was used to demonstrate multisensor mobile robot fuzzy-logic-based navigation in outdoor environments

chapter

A multiplatform on-board processing system for miniature unmanned vehicles

R.D. Garcia, K.P. Valavanis, M. Kontitsis

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006. > 2156 - 2163

Proceedings. 2006 Conference on International Robotics and Automation

This paper presents a low cost, high powered onboard processing system for miniature unmanned vehicles (UVs), especially unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). Such vehicles have shown great potential due to their compact size, high maneuverability and high payload-to-size ratio. The proposed on-board processing system differs from other existing designs by utilizing...

chapter

Experimental validation of a MATLAB based control architecture for multiple robot outdoor navigation

L. Doitsidis, A.L. Nelson, K.P. Valavanis, M.T. Long, more

Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005. > 1499 - 1505

2005 IEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation

Design, implementation and experimental validation of a MATLAB based autonomous robot control framework is presented, supported by, and integrated into a distributed field robot architecture known as distributed-SFX. The MATLAB based framework is composed of multi sensor fuzzy logic robot controllers that utilize laser, GPS and odometer data, fusing such sensor data and filtering out noise, to improve...

chapter

Petri Net Modeling of Routing and Operation Flexibility in Production Systems

G.J. Tsinarakis, N.C. Tsourveloudis, K.P. Valavanis

Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation Intelligent Control, 2005. > 352 - 357

2005 IEEE International Symposium on Intelligent Control and 13th Mediterranean Conference on Control and Automation

Timed Petri nets are used to model operational and routing flexibility in production systems. A generalized multi-productive machine module is defined, adapted to system features, repeated and connected to compose the TPN models of production systems with different levels of routing and operation flexibility. The models obtained are used to study system parameters under different conditions. Applicability...

article

A novel framework for the process control of the restoration of electrical industrial systems

N.A. Fountas, N.D. Hatziargyriou, K.P. Valavanis

Electric Power Systems Research > 1999 > 50 > 3 > 163 - 167

A technical process is the controlled flow of matter, energy or information. This work concentrates on event-related control rather than the widely investigated continuous control. Special attention has been given to the complex multi-variable problem of large-scale power systems restoration following a widespread outage. Processes taken place and related process control can be effectively described...

article

Petri net extensions for the development of MIMO net models of automated manufacturing systems

S. Ramaswamy, K.P. Valavanis, S. Barber

Journal of Manufacturing Systems > 1997 > 16 > 3 > 175-191

In this paper, the development of multiple-input multiple-output (MIMO) subnets is discussed. Hierarchical time-extended Petri nets (H-EPNs), a form of extended Petri nets, allow the development of structured MIMO subnets to model complex system functionalities. In addition, H-EPNs also provide a means to convert such a MIMO structure to a single-input single-output (SISO) net that can easily be integrated...

article

Petri Net Extensions for the Development of MIMO Net Models of Automated Manufacturing Systems

S. Ramaswamy, K.P. Valavanis, S. Barber

Journal of Manufacturing Systems > 1997 > 16 > 6 > 457

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