Nitin Sydney

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We present a nonlinear, dynamic controller for a 6DOF quadrotor operating in an estimated, spatially varying, turbulent wind field. The quadrotor dynamics include the aerodynamic effects of drag, rotor blade flapping, and induced thrust due to translational velocity and external wind fields. To control the quadrotor we use a dynamic input/output feedback(More)
In this paper we analyze the mapping accuracy of a sensor network using a quantitative measure of the mapping error as performance metric. We use optimal interpolation to calculate the estimation error of a map of a spatiotemporal field produced by assimilating observations collected by a group of vehicles. The vehicles travel in a closed trajectory in a(More)
This paper presents a motion-planning strategy for multiple, mobile sensor platforms using visual sensors with a finite field of view. Visual sensors are used to collect position measurements of potential targets within the search domain. Measurements are assimilated into a multi-target Bayesian likelihood ratio tracker that recursively produces a(More)
Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that affect inflow at their rotors. Inflow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade-flapping dynamics. This paper introduces an onboard, pressure-based flow measurement system developed for a small quadrotor(More)
Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that affect inflow at their rotors. Inflow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade flapping dynamics. This paper introduces an onboard, pressure-based flow measurement system developed for a small quadrotor(More)
The Synthetic Collective Unmanned Underwater Laboratory (SCUUL) testbed is a multi-vehicle testbed that is used to evaluate the performance of underwater motion coordination algorithms in a dynamic environment. The SCUUL testbed consists of six propellor-driven vehicles, a 367,000 gallon tank, and an underwater motion capture system. The tank is the Neutral(More)
This paper provides a decentralized control algorithm for multiple autonomous vehicles to sample environmental quantities on closed paths. We present a multi-vehicle control algorithm that samples a nonstationary spatiotemporal field using optimal interpolation to evaluate the sampling performance. The control algorithm leverages a coordinate transformation(More)
In this paper we describe a distributed, information theoretic motion planning strategy for multi-agent target detection. Agents assimilate measurements into a likelihood-ratio tracker, which provides a probability distribution for potential target locations. Information from other agents is fused with the local agents' probability density using an(More)