Antonios Tsourdos

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Multiple sensor fusion for mbot localisation and naxigation has attracted a lot of interest in recent years. This paper describes a sensor based navigation appmach using an interval analysis (IA) based adaptive mahanism tor an Unscented Kalman filter (UKF). T h e robot is equipped with inertial sensors (INS), encoders and ultrasonic senson. An UKF is used(More)
Model checking has been used to verify the correctness of digital circuits, security protocols, communication protocols, as they can be modelled by means of finite state transition model. However, modelling the behaviour of hybrid systems like UAVs in a Kripke model is challenging. This work is aimed at capturing the behaviour of an UAV performing(More)
— This paper proposes UAV rendezvous and standoff tracking guidance laws against a moving target using differential geometry. Searching and subsequent tracking of moving ground based target is one of the primary capabilities of cooperative UAVs. In performing such missions, UAVs are to approach a target and keep a certain distance, known as a standoff(More)
— This paper presents a coordinated standoff tracking methodology of groups of moving targets using multiple UAVs. The vector field guidance approach is first applied to track a group of targets for a single UAV by defining a variable standoff orbit to be followed, which can keep all targets within the field-of view of the UAV. A new feedforward term is(More)
— This paper proposes a decentralised vector field guidance algorithm for coordinated standoff tracking of a ground moving target by multiple UAVs. In particular, this study introduces additional adaptive terms in an existing sliding mode control concept for standoff tracking guidance, in order to reduce the effect of unmodelled dynamics and disturbances.(More)