Title:
Collaborative Mapping and Search for Autonomous Helicopters
Collaborative Mapping and Search for Autonomous Helicopters
| dc.contributor.author | Johnson, Eric N. | |
| dc.contributor.author | Magree, Daniel P. | |
| dc.contributor.author | Mooney, John G. | |
| dc.contributor.author | White, Matthew | |
| dc.contributor.author | Hartman, Jonathan | |
| dc.contributor.author | Sahasrabudhe, Vineet | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
| dc.contributor.corporatename | Lockheed Martin | en_US |
| dc.contributor.corporatename | Sikorsky Aircraft Corporation | en_US |
| dc.date.accessioned | 2013-05-28T15:32:02Z | |
| dc.date.available | 2013-05-28T15:32:02Z | |
| dc.date.issued | 2013-05 | |
| dc.description | Copyright © 2013 by the authors, Published by the American Helicopter Society International, Inc., with Permission. | en_US |
| dc.description.abstract | This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a multi-aircraft collaborative architecture, focused on decentralized autonomous decision-making. The architecture includes a finite-state machine, Voronoi mapping strategy, and real-time information sharing system designed to solve a challenge problem. The architecture was implemented on a pair of Yamaha RMax helicopters outfitted with modular avionics, as well as an associated set of simulation tools. Simulation results for single- and multiple-aircraft scenarios are presented, along with a quadratic relationship between mapping speed and task completion time. Further work suggested includes validation of simulation results in flight test with two real aircraft, as well as further exploration between search problem parameters and theoretical optimal performance. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | Johnson, Eric N., et al. "Collaborative Mapping and Search for Autonomous Helicopters". Proceedings of the 69th Annual Forum of the American Helicopter Society, Phoenix, AZ, May 21–23, 2013. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/47079 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.subject | Collaborative autonomy | en_US |
| dc.subject | Unmanned Aerial Vehicles (UAV) | en_US |
| dc.subject | Unmanned helicopter systems | en_US |
| dc.subject | Multi-vehicle information sharing | en_US |
| dc.title | Collaborative Mapping and Search for Autonomous Helicopters | en_US |
| dc.type | Text | |
| dc.type.genre | Article | |
| dspace.entity.type | Publication | |
| local.contributor.author | Johnson, Eric N. | |
| local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
| relation.isAuthorOfPublication | 175a1f2b-c14e-4c43-a9e5-136fb7f8e5d0 | |
| relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |