Matthew A. Vavrina

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This paper introduces a hardware platform for automated battery changing and charging for multiple UAV agents. The automated station holds a buffer of 8 batteries in a novel dual-drum structure that enables a " hot " battery swap, thus allowing the vehicle to remain powered on throughout the battery changing process. Each drum consists of four battery bays,(More)
— This paper presents an extension of our previous work on the persistent surveillance problem. An extended problem formulation incorporates real-time changes in agent capabilities as estimated by an onboard health monitoring system in addition to the existing communication constraints, stochastic sensor failure and fuel flow models, and the basic(More)
Preliminary design of high-thrust interplanetary missions is a highly complex process. The mission designer must choose discrete parameters such as the number of flybys and the bodies at which those flybys are performed. For some missions, such as surveys of small bodies, the mission designer also contributes to target selection. In addition, real-valued(More)
  • Citation Michini, Tuna Bernard, Joshua Toksoz, Matthew Redding, Jonathan Michini, Matthew How +8 others
  • 2011
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. This paper introduces a hardware platform for automated battery changing and charging for multiple UAV agents. The automated station holds a buffer of 8 batteries in a novel dual-drum structure that enables a " hot " battery swap, thus(More)
Citation Bethke, B. et al. " Agent capability in persistent mission planning using approximate dynamic programming. Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this(More)
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