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This paper presents an aerial robot system designed to perform in situ sampling of supercell thunderstorms, including those that produce tornadoes. A description of the system architecture and concept of operations is given, along with a brief discussion of the evolution of critical system components. Results are given from two field campaigns, an airmass boundary intercept in Northern Colorado during...
This paper presents a hierarchical control architecture that enables cooperative surveillance by a heterogeneous aerial robot network comprised of mothership unmanned aircraft and daughtership micro air vehicles. Combining the endurance, range, and processing capabilities of the motherships with the stealth, flexibility, and maneuverability of swarms of daughterships enables robust control of aerial...
This paper presents results implementing Lyapunov vector fields for the guidance of unmanned aircraft. The vector fields yield globally stable tracking of circular loiter patterns. These loiter patterns are used in several unmanned aircraft applications including hierarchical micro air vehicle control for cooperative plume tracking, extremum seeking for electronic chaining, and cooperative tracking...
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