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Flying robots: modeling, control and decision making

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3 Author(s)
Kim, H.J. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Shim, D.H. ; Sastry, S.

This paper presents a flight management system (FMS) implemented as on-board intelligence for rotorcraft-based unmanned aerial vehicles (RUAV's), in order to gradually refine given abstract mission commands into real-time control signals for each vehicle. A strategy planner uses the probabilistic decision making algorithms to determine suboptimal action at each time step. A graphical interface on ground station enables human intervention. We derive nonlinear dynamics model upon which we design a tracking control layer using nonlinear model predictive control and integrate with a trajectory generator for logistical action planning. The proposed structure has been implemented on Berkeley RUAVs and validated in probabilistic pursuit-evasion games to show the possibility of intelligent flying robots.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:1 )

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