Derek B. Kingston

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The objective of this paper is to describe the design and implementation of a small semi-autonomous fixed-wing unmanned air vehicle. In particular we describe the hardware and software architectures used in the design. We also describe a low weight, low cost autopilot developed at Brigham Young University and the algorithms associated with the autopilot.(More)
The objective of this paper is to explore the feasibility of using multiple low-altitude, short endurance (LASE) unmanned air vehicles (UAVs) to cooperatively monitor and track the propagation of large forest fires. A real-time algorithm is described for tracking the perimeter of fires with an on-board infrared sensor. Using this algorithm, we develop a(More)
— In this paper, we propose discrete-time and continuous-time consensus update schemes motivated by the discrete-time and continuous-time Kalman filters. With certainty information encoded into each agent, the proposed consensus schemes explicitly account for relative confidence / reliability of information states from each agent in the team. We show mild(More)
This paper poses the cooperative perimeter-surveillance problem and offers a decentralized solution that accounts for perimeter growth (expanding or contracting) and insertion/deletion of team members. By identifying and sharing the critical coordination information and by exploiting the known communication topology, only a small communication range is(More)
Small unmanned air vehicles (UAVs) and micro air vehicles (MAVs) have payload and power constraints that prohibit heavy sensors and powerful processors. This paper presents real-time attitude and position estimation solutions that use small, inexpensive sensors and low-power microprocessors. In connection with an Extended Kalman Filter attitude estimation(More)
This dissertation has been read by each member of the following graduate committee and by majority vote has been found to be satisfactory. As chair of the candidate's graduate committee, I have read the dissertation of Derek Bastian Kingston in its final form and have found that (1) its format, citations, and bibliographical style are consistent and(More)
— This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to drive the UAV toward the tangent of prescribed orbit when the UAV is outside or on the orbit, and (ii) apply zero control(More)
This thesis has been read by each member of the following graduate committee and by majority vote has been found to be satisfactory. As chair of the candidate's graduate committee, I have read the thesis of Derek Bas-tian Kingston in its final form and have found that (1) its format, citations, and bibliographical style are consistent and acceptable and(More)
This work considers the challenging problem of simultaneous modeling and fusion of 'soft data' generated by a network of 'human sensors' for spatial state estimation tasks, such as lost target search or large area surveillance. Human sensors can opportunistically provide useful information to constrain difficult state estimation problems, but are imperfect(More)