Multiresolution on-line path planning for small unmanned aerial vehicles

Proceedings of the American Control Conference

Volumn , Issue , 2008, Pages 2744-2749

  Jung, Dongwon ^a   Tsiotras, Panagiotis ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

MATHEMATICAL TRANSFORMATIONS; MULTIRESOLUTION ANALYSIS; STANDARDS; UNMANNED AERIAL VEHICLES (UAV); VEHICLES; WAVELET DECOMPOSITION; WAVELET TRANSFORMS;

CELL DECOMPOSITION; COMPUTATIONAL RESOURCES; HARDWARE IN-THE-LOOP SIMULATION; INTEGER ARITHMETICS; LIFTING WAVELET TRANSFORMS; MULTI RESOLUTIONS; ON-LINE PATH PLANNING; PATH-PLANNING ALGORITHMS; SMALL UNMANNED AERIAL VEHICLES; TOPOLOGICAL GRAPHS; UNMANNED AIR VEHICLE; WAVELET COEFFICIENTS;

UNMANNED VEHICLES;

EID: 52449131375     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ACC.2008.4586908     Document Type: Conference Paper

References (16)

1. S. Behnke, "Local Multiresolution Path Planning," in RoboCup 2003: Robot Soccer World Cup VII, vol. 3020 of Lecture Notes in Computer Science, pp. 332-343, Berlin: Springer, 2004.
2. C. S. Burrus, R. A. Gopinath, and H. Guo, Introduction to Wavelets and Wavelet Transforms, Upper Saddle River, New Jersey: Prentice Hall, 1998.
3. R. Cowlagi and P. Tsiotras, "Multiresolution Path Planning with Wavelets: A Local Replanning Approach," in American Control Conference, (Seattle, WA), 2008.
4. P. S. Heckbert and M. Garland, "Multiresolution Modeling for Fast Rendering," in Proceedings of Graphics Interface, (Banff, Canada), pp. 43-50, May 1994.
5. D. Jung, Hierarchical Path Planning and Control of a Small Fixed-Wing UAV: Theory and Experimental Validation, Ph.D. Thesis, Georgia Institute of Technology, Atlanta, GA, Dec. 2007.
6. th IEEE Conference on Decision and Control, (Seville, Spain), pp. 2739-2744, Dec. 2005.
7. D. Jung and P. Tsiotras, "Modelling and Hardware-in-the-loop Simulation for a Small Unmanned Aerial Vehicle," in AIAA Infotech at Aerospace, (Rohnert Park, CA), May 2007. AIAA Paper 07-2763.
8. D. Jung and P. Tsiotras, "Bank-To-Turn Control for a Small UAV using Backstepping and Parameter Adaptation," in International Federation of Automatic Control (IFAC) World Congress, (Seoul, Korea), July 2008. to appear.
9. D. Jung and P. Tsiotras, "On-line Path Generation for Small Unmanned Aerial Vehicles Using B-Spline Path Templates," in AIAA Guidance, Navigation and Control Conference, 2008. submiited.
10. S. Koenig and M. Likhachev, "script D*; Lite," in Proceedings of the National Conference of Artificial Intelligence, pp. 476-483, 2002.
11. S. M. LaValle, Planning Algorithms, Cambridge University Press, 2006.
12. H. Noborio, T. Naniwa, and S. Arimoto, "A Quadtree-Based Path-Planning Algorithm for a Mobile Robot," Journal of Robotic Systems, Vol. 7, No. 4, pp. 555-574, 1990.
13. D. K. Pai and L.-M. Reissell, "Multiresolution Rough Terrain Motion Planning," IEEE Transactions on Robotics and Automation, Vol. 14, No. 1, pp. 19-33, 1998.
14. A. Stentz, "Optimal and Efficient Path Planning for Partially-Known Environments," in Proceedings of the IEEE International Conference on Robotics and Automation, vol. 4, pp. 3310-3317, May 1994.
15. P. Tsiotras and E. Bakolas, "A Hierarchical On-Line Path Planning Scheme using Wavelets," in Proceedings of the European Control Conference, (Kos, Greece), July 2007.
16. J. Vörös, "Low-cost Implementation of Distance Maps for Path Planning using Matrix Quadtrees and Octrees," Robotics and Computer Integrated Manufacturing, Vol. 17, pp. 447-459, 2001.