Antonios Tsourdos

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Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. UAVs rely on accurate location information for a variety of purposes including navigation, motion planning and control, and mission completion. UAV INS/GPS localization is generally used based on navigation filter. Extended Kalman filter is largely used to solve the(More)
This paper presents a solution to the problem of simultaneous arrival of a swarm of UAVs by safe and continuously flyable paths. Continuously flyable-paths are generated by satisfying the curvature constraint throughout the path-length. The flyable paths ensure the safety of the UAVs by changing the shape of the flyable-paths by adjusting curvature of the(More)
Multiple sensor fusion for robot localisation and navigation has attracted a lot of interest in recent years. This paper describes a sensor based navigation approach using an interval analysis (IA) based adaptive mechanism for an unscented Kalman filter (UKF). The robot is equipped with inertial sensors (INS), encoders and ultrasonic sensors. A UKF is used(More)
Formal methods have been deployed with great success to validate zero-fault tolerant systems such as hardware chips, real-time operating systems (RTOSs). Another feasible application area for formal techniques is in the modelling and verification of cooperative unmanned aerial vehicle (UAV) teams. The rationale being, multi-UAV coordination for cooperative(More)
Inertial and vision sensors are must nowadays in terms of navigation and guidance measurements for autonomous aerial and ground vehicles. To make up for the Inertial Navigation divergence the concept of aiding Inertial Navigation by Simultaneous Localization and Mapping is introduced. In this paper we describe the needing changes to the Simultaneous(More)
This paper proposes a behaviour recognition methodology for ground vehicles moving within road traffic using unmanned aerial vehicles in order to identify suspicious or abnormal behaviour. With the target information acquired by unmanned aerial vehicles and estimated by filtering techniques, ground vehicle behaviour is first classified into representative(More)
Attitude determination is of major importance in Guidance and Control Systems of the Unmanned Aerial Vehicles (UAV's). Supplying wrong or not precise attitude very often turns to be catastrophic for the UAV's. Vision sensors are must nowadays. They provide reach source of information given as relative measurements between the vehicle navigation parameters(More)
In general routing problems are adapted to the application domain while incorporating constraints and special conditions. Depending on the problem, the classical static shortest path algorithm may be proved unrealized due to insufficient energy reserves. Motivated from the analysis in (Economou et al., 2007) where graph theory tools were utilized in the UAV(More)
The paper presents the lateral acceleration control design of a missile model using the evolution strategy. The non-linear fixed-structure-like controller is represented by the singleton fuzzy model. This allows a variation of shapes of the gain functions to be explored, and subsequent modification is fairly easy. Instead of finding an optimal decomposition(More)