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— In this paper, a method for accurate path following for miniature air vehicles is developed. The method is based on the notion of vector fields, which are used to generate desired course inputs to inner-loop attitude control laws. Vector field path following control laws are developed for straight-line paths and circular arcs and orbits. Lyapunov(More)
This paper presents a method for determining the GPS location of a ground-based object when imaged from a fixed-wing miniature air vehicle (MAV). Using the pixel location of the target in an image, with measurements of MAV position and attitude, and camera pose angles, the target is localized in world coordinates. The main contribution of this paper is to(More)
This paper outlines a simple algorithm for automated landing of miniature aerial vehicles (MAVs). Utilizing estimates of height above ground from barometric pressure and optic flow measurements, repeated landings were performed with a 1.5 m wingspan MAV. With height above ground estimated from barometric pressure measurements alone, landing errors averaged(More)
This paper outlines a method for using vision-based feedback to accurately land a MAV on a visually identifiable target of approximately known location. The method presented is robust to wind, capable of handling both stationary and moving targets, and capable of correcting for camera misalignment, state estimation biases, and parameter estimation biases.(More)
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