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The DARPA PerceptOR program implements a rigorous evaluative test program which fosters the development of field relevant outdoor mobile robots. Autonomous ground vehicles are deployed on diverse test courses throughout the USA and quantitatively evaluated on such factors as autonomy level, waypoint acquisition, failure rate, speed, and communications(More)
— We present a cascaded control architecture for a Yamaha RMAX robotic helicopter. The controller is composed of an inner-loop that stabilizes the unstable poles of the helicopter's linear dynamic model; and an outer-loop that decouples the dynamics of the lateral, longitudinal, vertical, and heading axes and enables trajectory tracking. Actual flight(More)
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