Title:
Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition
Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition
dc.contributor.author | Magree, Daniel | |
dc.contributor.author | Bershadsky, Dmitry | |
dc.contributor.author | Wang, Xo | |
dc.contributor.author | Valdez, Pierre | |
dc.contributor.author | Antico, Jason | |
dc.contributor.author | Coder, Ryan | |
dc.contributor.author | Dyer, Timothy | |
dc.contributor.author | George, Eohan | |
dc.contributor.author | Johnson, Eric N. | |
dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
dc.date.accessioned | 2015-05-26T14:30:50Z | |
dc.date.available | 2015-05-26T14:30:50Z | |
dc.date.issued | 2012-08 | |
dc.description | Presented at the Third International Aerial Robotics Symposium (IASR), 2012. | en_US |
dc.description.abstract | This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A Simultaneous Localization and Mapping (SLAM) algorithm is used to fuse information from a laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. A wall avoidance and guidance system is implemented to ensure that the vehicle explores maximum indoor area. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. Finally, an object detection system is implemented to identify target objects for retrieval. | en_US |
dc.embargo.terms | null | en_US |
dc.identifier.citation | Magree, D., Bershadsky, D., Wang, X., Valdez, P. Antico, J., Coder, R., Dyer, T., George, E., and Johnson, E., "Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition". Fourth IARC Symposium on Indoor Flight Issues, Grand Forks, ND, August, 2012. | en_US |
dc.identifier.uri | http://hdl.handle.net/1853/53348 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.subject | Simultaneous Location and Mapping (SLAM) | en_US |
dc.subject | SLAM algorithms | en_US |
dc.subject | Unmanned aerial vehicles | en_US |
dc.subject | International Aerial Robotics Competition | en_US |
dc.title | Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition | en_US |
dc.type | Text | |
dc.type.genre | Proceedings | |
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 |