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— This work outlines two approaches for small unmanned aerial vehicles (UAVs) performing surveillance with fixed cameras. Small UAVs present significant control challenges , due to relatively low-bandwidth actuation and significant disturbances due to wind. This work features implementations of a spatial sliding mode controller and a receding-horizon(More)
— Mission planning scenarios in robotics typically involve one or more semi-autonomous agents and a human operator. The high-level goal is to find an optimal allocation of agents to tasks. Each individual task or collection of tasks may have subgoals, such as search, localization, or information gathering. Each of these lower-level goals are their own(More)
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