Tim Jenks

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1 Avian flight far exceeds our best aircraft control systems. We have conducted a series of experiments at the Concord Field Station demonstrating the extraordinary maneuverability of the common pigeon, showing it darting through tight spaces and recovering from large disturbances with ease. Our goal is to understand how to make small fixed-wing aircraft(More)
In this thesis we consider the problem of generating motion plans for a nonlinear dynamical system that are guaranteed to succeed despite uncertainty in the environment , parametric model uncertainty, disturbances, and/or errors in state estimation. Furthermore, we consider the case where these plans must be generated online, because constraints such as(More)
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