Scott D. Hanford

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The need for intelligent unmanned vehicles has been steadily increasing. These vehicles could be air-, ground-, space-, or sea-based. This paper will review some of the most common software systems and methods that could be used for controlling such vehicles. Early attempts at mobile robots were confined to simple laboratory environments. For vehicles to(More)
Small radio controlled (R/C) rotary-wing UAVs have many potential military and civilian applications, but can be very difficult to fly. Small and lightweight sensors and computers can be used to implement a control system to make these vehicles easier to fly. To develop a control system for a small UAV, an 8-bit microcontroller has been interfaced with MEMS(More)
This paper describes the development of a system that uses computational psychology (the Soar cognitive architecture) for the control of unmanned vehicles. A multithreaded software system written using Java and integrated with the Soar cognitive architecture has been implemented on two types of mobile robots. Soar can be used as a general purpose robotic(More)
This paper describes the development of the Cognitive Robotic System (CRS) for studying intelligent and autonomous unmanned vehicles. This system uses a multi-threaded software system written using Java to integrate the Soar cognitive architecture with a six-legged mobile robot and its sensors and motors. The results of experiments in which the Cognitive(More)
This paper presents steering behaviours through intelligent agents populating virtual or simulated environments. We present a reliable effort towards automatic path planning of intelligent computer agents with the integration of trajectory optimisation and obstacle avoidance techniques. Our approach will increase the level of accuracy in movement and would(More)
I grant The Pennsylvania State University the non-exclusive right to use this work for the University's own purposes and to make single copies of the work available to the public on a not-for-profit basis if copies are not otherwise available. Abstract Small, semi-autonomous rotary-wing UAVs have many potential military and civilian applications. A(More)
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