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Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

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3D Collision Avoidance Algorithm for Unmanned Aerial Vehicles with Limited Field of View Constraints

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

Unmanned Aerial Vehicles (UAVs) are becoming a significant field of research with numerous applications, ranging from mapping to surveillance. New applications, such as aerial delivery of goods, are expected to appear in the next years and will require mor ...

2016

Run-to-Run Disturbance Rejection for Feedforward Path Following of an Adaptively Controlled Unmanned Helicopter

Timm Faulwasser

We present a scheme for run-to-run disturbance rejection in optimization-based feedforward path following of a remotely piloted aircraft system (RPAS). The proposed scheme is based on the inter-run estimation of unknown disturbances, such as wind forces an ...

2015

Parametric scripting for early design performance simulation

Guillaume Labelle

This paper discusses the advantages of using a coding interface both to describe form and run performance simulations in the context of architectural design. It outlines the relevance of combining recent interest in the design community for parametric scri ...

Elsevier Science Sa2014

Spatial Data Management Challenges in the Simulation Sciences

Anastasia Ailamaki, Thomas Heinis, Farhan Tauheed

Scientists in many disciplines have progressively been using simulations to better understand the natural systems they study. Faster hardware, as well as increasingly precise instruments, allow the construction and simulation of progressively advanced mod ...

2014

Stochastic Source Seeking by Mobile Robots

Mahmut Selman Sakar

We consider the problem of designing controllers to steer mobile robots to the source (the minimizer) of a signal field. In addition to the mobility constraints, e.g., posed by the nonholonomic dynamics, we assume that the field is completely unknown to th ...

Institute of Electrical and Electronics Engineers2012

A numerical model of the ankle to analyze joint prostheses

Valérie Parvex

The ankle is one of the most injured joint in the body. However, it remains a new field of study in biomedical orthopedics. With the increased life span, more people suffer from arthosis and joint problems. That is why the improvements done in arthroplasty ...

2012

Nonholonomic source seeking in switching random fields

Mahmut Selman Sakar

We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the nonholonomic dynamics, we assume that the field is completely unknown to the ...

2010

Vision-based control of near-obstacle flight

Antoine Beyeler

Lightweight micro unmanned aerial vehicles (micro-UAVs) capable of autonomous flight in natural and urban environments have a large potential for civil and commercial applications, including environmental monitoring, forest fire monitoring, homeland securi ...

EPFL2009

Linear Parameter Varying Iterative Learning Control

Alireza Karimi, Mark Edward John Butcher

In this paper an Iterative Learning Control (ILC) algorithm is proposed for a certain class of Linear Parameter Varying (LPV) systems whose dynamics change between iterations. Consistency of the algorithm in the presence of stochastic disturbances is shown ...

2009

Distributed detection over adaptive networks based on diffusion estimation schemes

Ali H. Sayed

We study the problem of distributed detection, where a set of nodes are required to decide between two hypotheses based on their measurements. We seek fully distributed implementations, where all nodes make individual decisions by communicating with their ...

IEEE2009