Alison A. Proctor

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Many onboard navigation systems use the Global Positioning System to bound the errors that result from integrating inertial sensors over time. Global Positioning System information, however, is not always accessible since it relies on external satellite signals. To this end, a vision sensor is explored as an alternative for inertial navigation in the(More)
Landing an aircraft in a remote landing zone autonomously presents several challenges. Firstly, the exact location, orientation, and elevation of the landing zone is not always known; secondly, the accuracy of the aircrafts navigation solution is not always sufficient for this type of precision maneuver. This paper explores a method for estimating the(More)
The Ocean Technology Test Bed (OTTB) is a multi-functional underwater test facility developed by the Ocean Technology Lab (OTL) at the University of Victoria to serve military, academia, government and industry. The OTTB is located off the coast of Vancouver Island, Canada. It resides in 80m of water and covers 2-square kilometers of the seafloor. A(More)
Rapid changes in the Earth's climate have underscored the importance of increasing our understanding of the world's oceans. More resources are required to chart and maintain newly navigable waters in the far north and to identify new supplies of natural resources. We must increase our capacity to sample the ocean spatially, whether it be to collect data(More)
This paper proposes a hierarchical image-based visual servoing (IBVS) strategy for dynamic positioning of a fully actuated underwater vehicle. In the kinematic loop, the desired velocity is generated by a nonlinear model predictive controller, which optimizes a cost function of the predicted image trajectories under the constraints of visibility and(More)