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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 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)
This paper presents a novel nonlinear adaptive control scheme for the angle of attack of autonomous aircraft with some unknown aerodynamic parameters based on Immersion and Invariance approach. The design is based on a modular adaptive backstepping scheme with a recently developed nonlinear estimator that is relatively easy to tune. The nonlinear estimator(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)
This paper presents a RGB-D aided inertial navigation system that uses RGB-D sensor and low cost inertial measurement sensors (IMU) to provide state estimates for micro aerial vehicles (MAV) in GPS-denied indoor environments. The state estimation approach is based on the invariant observer theory which is developed for systems possessing symmetries. In our(More)
This paper presents a simulation model applied for estimating the capacity of airport's runway systems. Different from most analytical runway capacity estimation models which use mathematical formulas to compute capacity directly and some other programming-intensive simulation models, we utilize a sophisticated discrete event simulation software, Arena, to(More)
Most of Path Planning Algorithms are applied independently when solving real-time path planning problems. However, utilizing multiple algorithms simultaneously can avoid the disadvantages of their each as much as possible. This paper divides the real-time path planning mission into two grades employing different algorithms. A* algorithm is used to plan a(More)
This paper presents a data analysis method to predict remaining useful life of aircraft engines based on running data. This paper formulates a model of CMPASS simulation data published by NASA based on run-to-failure exponential propagation model of aircraft engines. This method builds a damage propagation model library according to run-to-failure data of(More)
Traditional control allocation technology may introduce large control output error when the control effectiveness model has uncertainties. This paper demonstrates a new robust control allocation method in the presence of partial or total loss of control effectors. Under the condition that the fault magnitude information is not identified precisely, the(More)