Swee King Phang

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This paper presents an intelligent and robust guidance, navigation and control solution for a rotorcraft UAV to perform automatic cargo transportation between two moving platforms. Different from the conventional GPS/INS based navigation, the proposed UAV system also integrates a scanning laser range finder to robustly correct its altitude measurement and(More)
— In this work, we report our solutions to the which involves using micro air vehicles in urban post-disaster search and rescue missions. Solutions to all key mission elements of the competition, including real-time map stitching, indoor navigation and roof-top perching, are documented and highlighted in this manuscript. The proposed solutions are(More)
— In this work, we provide a nonlinear mathematical model identification methodology of an autonomous micro quadrotor, and the design of its orientation and position controllers. In the model identification, we specifically focus on the brushed D.C. motor dynamics, which further breaks down into three different segments: voltage generation, motor dynamics,(More)
This paper presents a guideline to systematically design and construct a micro quadrotor unmanned aerial vehicle (UAV), capable of autonomous flight. The designed micro UAV has a gross weight of less than 40 g including power supply sufficient for an 8-min flight. The design is divided into three parts. First, investigation is made on the structural design(More)
In this paper, we present a comprehensive design for a fully functional unmanned rotorcraft system: GremLion. GremLion is a new small-scale unmanned aerial vehicle (UAV) concept using two contra-rotating rotors and one cyclic swash-plate. It can fit within a rucksack and be easily carried by a single person. GremLion is developed with all necessary avionics(More)
In this paper, we present an unmanned system design methodology for a fully functional unmanned rotorcraft system: GremLion, developed with all necessary avionics and a ground control station. It has been employed to participate in the 2012 UAVForge competition. The proposed design methodology consists of hardware construction, software development, dynamic(More)
— The paper presents a control scheme to the formation flight of a pair of unmanned rotorcraft. A leader-follower formation strategy is adopted and it is realized by utilizing the robust and perfect tracking (RPT) control approach. More specifically, individual RPT flight control laws are implemented in each aircraft, while the measurements from its(More)
This paper describes the design and construction of an autonomous indoor coaxial rotorcraft system with onboard vision processing capability. A radio-controlled (RC) helicopter was modified and upgraded with essential avionics and processing elements for autonomous flight. This paper shows that in an indoor environment, where GPS signals are unavailable,(More)