K. P. Valavanis

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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)
Vertical Take-Off 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)
Diversity in unmanned vehicle designs and control as well as diversity in existing autopilots lead to major compatibility issues among different platforms. The small number of different autopilot designs currently available in the market and their limitations, justifies the rationale for proposing design of a new modular, flexible, easy to integrate(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)
Unmanned ground vehicles (UGVs) have strict payload limitations, limited free space affecting power supply availability (number of batteries, size and volume) that impact onboard available energy resulting in limited endurance and operational range. This limitation is exacerbated by the addition of extra sensors and other related equipment needed for(More)
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 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)
Unmanned robotic vehicles are capable of performing desired tasks in unstructured, uncertain and potentially hostile environments. They may be remotely-operated or function (semi-) autonomously without human intervention. However, it will long before unmanned robot vehicles function as completely autonomous entities in diverse environments. Current unmanned(More)