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In this paper, we present a system level approach to smart wheelchair system (SWS) navigation in urban environments. The proposed SWS ecosystem has two primary components: a mapping service which generates large-scale landmark maps, and the SWS vehicle itself, which is a client of the mapping service. The SWS prototype integrates 3D LIDAR/imaging systems which provide robust perception in unstructured,...
Dynamic soaring (DS) is an aerobatic maneuver whereby a gliding aircraft harnesses energy from horizontal wind that varies in strength and/or direction to support flight. Typical approaches to dynamic soaring in autonomous unmanned aerial vehicles (UAVs) use nonlinear optimizers to generate energy-gaining trajectories, which are then followed using traditional controllers. The effectiveness of such...
A method for distributed parameter estimation of a previously unknown wind field is described. The application is dynamic soaring for small unmanned air vehicles, which severely constrains available computing while simultaneously requiring updates that are fast compared with a typical dynamic soaring cycle. A polynomial parameterization of the wind field is used, allowing implementation of a linear...
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