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HAWK: An Unmanned Mini-Helicopter-Based Aerial Wireless Kit for Localization

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5 Author(s)
Zhongli Liu ; Dept. of Comput. Sci., Univ. of Massachusetts Lowell, Lowell, MA, USA ; Yinjie Chen ; Benyuan Liu ; Chengyu Cao
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This paper presents a fully functional and highly portable mini Unmanned Aerial Vehicle (UAV) system, HAWK, for conducting aerial localization. HAWK is a programmable mini helicopter Draganflyer X6 armed with a wireless sniffer Nokia N900. We developed custom PI-Control laws to implement a robust waypoint algorithm for the mini helicopter to fly a planned route. A Moore space filling curve is designed as a flight route for HAWK to survey a specific area. A set of theorems were derived to calculate the minimum Moore curve level for sensing all targets in the area with minimum flight distance. With such a flight strategy, we can confine the location of a target of interest to a small hot area. We can recursively apply the Moore curve-based flight route to the hot area for a fine-grained localization of a target of interest. We have conducted extensive experiments to validate the feasibility of HAWK and our theory. A demo of HAWK in autonomous fly is available at

Published in:

Mobile Computing, IEEE Transactions on  (Volume:13 ,  Issue: 2 )

Date of Publication:

Feb. 2014

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