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The USC autonomous flying vehicle: An experiment in real-time behavior-based control

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4 Author(s)
Fagg, A.H. ; Univ. of Southern California, Los Angeles, CA, USA ; Lewis, M.A. ; Montgomery, J.F. ; Bekey, George A.

A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with fourteen sensors, uses a model helicopter as an airframe. The control system utilizes these sensors to: remain aloft and in stable flight; navigate to a target; and manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. The key contribution of this paper is the demonstration of a situated agent under these severe circumstances; as the craft is airborne, it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity

Published in:

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

26-30 Jul 1993