Title:
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
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