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This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and(More)
A path-following method for fixed-wing unmanned aerial vehicles (UAVs) is presented in this paper. This method consists of an outer guidance loop and an inner control loop. The guidance law relies on the idea of tracking a virtual target. The motion of the virtual target is explicitly specified. The main advantage of this guidance law is that it considers(More)
This paper presents a non-linear state observer-based integrated navigation scheme for estimating the attitude, position and velocity of micro aerial vehicles (MAV) operating in GPS-denied indoor environments, using the measurements from low-cost MEMS (micro electro-mechanical systems) inertial sensors and an RGB-D camera. A robust RGB-D visual odometry(More)
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