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This paper presents a framework to deal with outdoor navigation using an AR.Drone Parrot quadrotor. The proposed system runs in a centralized computer, the ground station, responsible for the communication with the unmanned aerial vehicle (UAV) and for synthesizing the control signals during flight missions. The outdoor navigation is performed through using a layered control architecture, where a...
We present an approach to efficiently plan flight paths for unmanned fixed-wing aircraft in uniform wind fields. Time-optimal parametric paths are constructed from segments that correspond to stationary flight conditions and may fully utilize the aircraft's performance limits. We provide the tools to analytically derive safety margins for flight performance limits required to compensate for systematic...
This paper presents a dynamic image-based visual servoing (IBVS) control law for a quadrotor Unmanned Aerial Vehicle (UAV) equipped with a single fixed on-board camera. The motion control problem is to regulate the relative position and yaw of the vehicle to a stationary target located on the ground. The control law is termed dynamic as it based on the dynamics and kinematics of the vehicle. The proposed...
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