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A novel technique is presented for organizing swarms of robots into formation utilizing artificial potential fields generated from normal and sigmoid functions. These functions construct the surface swarm members travel on, controlling the overall swarm geometry and the individual member spacing. Limiting functions are defined to provide tighter swarm(More)
A novel method is presented for dynamic heterogeneous swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) used to construct the surface which swarm members move on, controlling swarm geometry, individual member spacing, and managing obstacle avoidance. Limiting functions are defined to provide(More)
The eye-in-the-sky alternative to collecting real-time temporal/spatial data using small unmanned helicopters is proposed to: monitor traffic, evaluate and assess traffic patterns and provide accurate vehicle counts. Collected real-time visual data are converted to traffic statistical profiles and used as continuously updated inputs to existing traffic(More)
A novel method is presented for swarm formation control with potential fields generated from bivariate normal probability density functions (pdfs) that construct the surface the swarm members move upon controlling the swarm geometry and member spacing as well as manage obstacle avoidance. Limiting functions provide tighter swarm control by modifying and(More)
A Model Predictive Control Based Trajectory Tracking (MPCTT) system for small unmanned helicopters is presented. A linear model predictive controller is used to take advantage of the fast algorithms available to solve convex optimization problems. The proposed MPCTT system is compared with a velocity tracking and a position tracking system implemented with(More)
— Vertical TakeOff and Landing (VTOL) vehicles is a special class of Unmanned Aerial Vehicles (UAVs). This paper summarizes the current stage of VTOL design and market, and discusses VTOL growth and technical performance comparison. A database is presented to provide information concerning VTOL technical characteristics (maximum speed, payload, range,(More)
Currently many countries are developing regulation to allow unmanned aircraft systems (UAS) operations in their National Airspace System (NAS). Successful integration requires UAS to achieve, at a minimum, an equivalent level of safety to that of manned aviation. Safety is primarily defined in terms of the risk to human life, although potential collateral(More)
Miniature vertical take-off and landing (VTOL) vehicles have limited range of operations mainly due to their limited payload capacities and power availability. To increase this range, a modified unmanned ground vehicle (UGV) is used to transport the VTOL to its target area serving as an on-site take-off/landing and possibly refueling base. A gimbaled(More)
This paper deals with the application of a fuzzy logic based algorithm to the control of Autonomous Underwater Vehicles (AUVs). Fuzzy controllers are of simper design since they don't require explicit modeling of the vehicle dynamics. Furthermore, they may be tuned for optimal performance, and replace existing controllers designed using conventional or(More)