This paper describes the application of a novel methodology for high-level control and coordination autonomous vehicle teams its demonstration on high-fidelity models organic air developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside each to achieve among team members. An appropriate graph structure underlying communication topology between vehicles. On vehicle, information about neighbors is used predict their behavior plan...

An extended Kalman filter (EKF)-based algorithm for the localization of a team robots is described in this paper. The distributed EKF scheme straightforward that individual maintain pose estimate using EKFs are local to every robot. We then show how these results can be perform heterogeneous cooperative absence or degradation absolute sensors aboard members. proposed algorithms implemented field data obtained from ATRV-mini traversing on uneven outdoor terrain.

We investigate a computationally and memory efficient algorithm for radio frequency (RF) source-seeking with single-wing rotating micro aerial vehicle (MAV) equipped directional antenna. The MAV is assumed to have no knowledge of its position only an estimate orientation through magnetometer. A key novelty our approach in exploiting the rotation directionality RF antenna derive estimates angle arrival (AOA) at each rotation. then follows estimated direction until next complete. prove...

This paper describes the Samarai - a rotating mono-wing nano air vehicle (NAV) designed at Lockheed Martin Advanced Technology Laboratories. Challenges uniquely associated with developing this type of are identified and dynamic modeling control synthesis procedure is described for tackling them. It shown that, by wing as lower-complexity spinning disk, using disk states feedback control, very simple design results. approach validated in simulation flight maneuvers that include vertical,...

We present an adaptive feedback linearizing control scheme for excitation and power system stabilization. The is a synchronous generator which first modeled as input-output nonlinear discrete-time approximated by two neural networks. Then, the controller synthesized to adaptively compute appropriate law at each sampling instant using estimates provided model. This formulation simplifies problem that of designing linear pole-placement itself not network but in sense estimator adapts online....

This paper develops a systems- and control-oriented intelligent agent framework called the hybrid control (HICA), as well its composition into specific kinds of multiagent systems. HICA is essentially developed around system core so that knowledge-based planning coordination can be integrated with verified primitives to achieve coordinated multiple multimode dynamical The scheme applied teams unmanned air ground vehicles engaged in pursuit-evasion war game. Results are demonstrated simulation.

We propose a generally applicable method for the tracking of ground vehicles by aerial vehicles. The does not require any modifications to guidance and control UAV. It only requires capability follow waypoint commands. Sensing vehicle position with significant time delays is assumed. model image processing, communication involved in sending data station, performing computations receiving results on Variants have been tested successfully field may see widespread deployment.

Unmanned aerial vehicles (UAVs) are playing increasingly important roles on the battlefield and in our everyday lives. In military missions, they perform intelligence gathering, surveillance, reconnaissance. civilian arena, UAVs provide climate monitoring [1], [2]; pipeline inspection [3]; farm management [4], pollution [5]. Some enterprising realtors have even used them for virtual home tours [6]! Recent legislation will further promote use of by requiring Federal Aviation Authority (FAA)...

We investigate a computationally and memory efficient algorithm for radio frequency (RF) source-seeking with single-wing rotating micro air vehicle (MAV) operating in an urban canyon environment. present that overcomes two significant difficulties of First, Global Positioning System (GPS) localization quality can be degraded due to the lack clear line sight sufficient number GPS satellites. Second, spatial RF field is complex multipath reflections leading multiple maxima minima received...

An overview of a novel approach to vehicle formation control is presented. The scheme based on decentralized and cooperative predictive control. being tested Unmanned Air Vehicle models at the Honeywell Laboratories in Minneapolis. Each equipped with efficient guidance loops which enable implementation for higher-level coordination. In this framework, collision avoidance constraint fulfillment are ensured by using logic that switches collision-free emergency maneuvers if necessary. size...

Renewed interest in centimeter-scale flight vehicles for short-range urban surveillance and sampling missions led to the Defense Advanced Research Projects Agency’s Nano Air Vehicle (NAV) program (2006-2008). This effort explored technology fixed wing, rotary or flapping wing of 7.5 centimeter length 10 grams total mass that can fly 20 minutes with a range 1 kilometer. Under this authors participated Lockheed Martin-led development unique self-propelled monowing rotorcraft, Samarai, inspired...

The Samarai UAV is a biologically-inspired monocopter, similar in its ight characteristics to the maple seed. It essentially single, asymmetric helicopter blade, powered by tip propeller. Highdelity simulation of such vehicle challenging, but great importance e cient design. A multi-scale methodology presented, utilizing Computational Fluid Dynamics (CFD)-based predictions aerodynamic behavior, coupled more CPU-e blade element and free-wake vortex ring models. resulting suitable for...

We describe a scheme for building terrain maps of realistic outdoor environments by having multiple robotic agents navigate in them. The map combines vision-based depth information environmental features with an elevation gradient created fusing vertical displacements obtained from inclinometer pitch angles DGPS altitude data. Experimental results are presented to illustrate the practical application this scheme.

This paper describes a novel methodology for high-level control and coordination of autonomous vehicle formations its demonstration on high fidelity models the organic air developed at Honeywell Laboratories. The scheme employs decentralized receding horizon controllers that reside each to achieve among team members. An appropriate graph structure underlying communication topology between vehicles. On vehicle, information about neighbors is used predict their behavior so conflict-free...

We describe a pursuit-evasion scheme involving multiple coordinated vehicle teams in which each is modeled as class of hybrid intelligent agents. This the control agent (HICA), control-oriented enhancement to paradigm conceptually wraps an around system core. The problem formulated two supervisory HICA synthesize relevant control/coordination logic. Simulations demonstrate results such approach.

Recent robotics efforts have automated simple, repetitive tasks to increase execution speed and lessen an operator's cognitive load, allowing them focus on higher‐level objectives. However, autonomous system will eventually encounter something unexpected, if this exceeds the tolerance of solutions, there must be a way fall back teleoperation. Our solution is largely with ability determine when it necessary ask human operator for guidance. We call approach human‐guided autonomy . design...

A coordinated control scheme is developed for a team of autonomous Unmanned Ground Vehicles (UGVs) engaged in outdoor terrain mapping. It based on systems- and control-oriented enhancement the "intelligent agent" paradigm which we call Hybrid Intelligent Control Agent (HICA). HICA essentially embeds hybrid system an intelligent agent. used as conceptual basis synthesis controllers certain classes distributed multi-mode dynamical processes. In formulation, each vehicle modelled with its own...

We present a class of supervisory multiagent sys- tems in which each agent is based on an enhanced form the intelligent paradigm called Hybrid Intelligent Control Agent (HICA). A bound input event rates neces- sary to preserve stability obtained and studied pursuit-evasion simulation involving multiple autonomous un- manned vehicles.