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This paper addresses the particle filters to deal with the measurement ambiguity. In terrain referenced navigation, the ambiguous measurement update due to the similar terrain profiles causes the performance degradation and it can be the primary reason of divergence in the worst case. We proposed a method to cope with terrain ambiguity that utilizes a solution to the out-of-sequence measurement(OOSM)...
In this paper, the hybrid fuzzy-PID controller for a coaxial rotor helicopter is developed as a supplement to the conventional PID controller. The coaxial rotor helicopter uses one motor and two swash plates linked to each other. The helicopter system is modeled by nonlinear dynamics. The PID control system works well with a moderate velocity change. However, it provides unsatisfactory performance...
A decentralized controller for target tracking and obstacle avoidance for a multi-agent system is proposed. The controller is based on a navigation function which is composed of a goal function, as the D-optimality criterion of the Fisher information matrix, and a constraint function, which generates repulsive force to the agents near the obstacle. The multi-agent system is modeled as a graph and...
This paper proposed a framework for airborne multisensor management for multitarget tracking, considering each of multiple unmanned aircraft as a sensor. The purpose of the algorithm is to quantify the performance of the multitarget tracking and to determine the time and location of the sensor deployment. Utilizing the posterior Cramer-Rao lower bound, the inverse of the Fisher information matrix,...
Reliability of safety critical systems such as nuclear power plants and automobiles has become a significant issue to our society. As more computing systems are utilized in these safety critical systems, there are high demands for verification and validation (V&V) techniques to assure the reliability of such complex computing systems. However, as the complexity of computing systems increases,...
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