Experiments in fixed-wing UAV perching

AIAA Guidance, Navigation and Control Conference and Exhibit

Volumn , Issue , 2008, Pages

  Cory, Rick ^a,b   Tedrake, Russ ^a,b  

^a MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

^b Electrical Engineering and Computer Science   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANGLE OF ATTACK; ANGLE OF ATTACK INDICATORS; FIXED WINGS; FLIGHT CONTROL SYSTEMS; UNMANNED AERIAL VEHICLES (UAV);

CONTROL DESIGN; HIGH ANGLE OF ATTACK; HIGH ANGLES OF ATTACK; HIGH-PRECISION; KINEMATIC FLIGHT; MOTION CAPTURE; OPTIMAL CONTROLS; PRESSURE DRAG;

AIRCRAFT CONTROL;

EID: 78651068271     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.2514/6.2008-7256     Document Type: Conference Paper

References (28)

1. Wickenheiser, A. M. and Garcia, E., "Longitudinal Dynamics of a Perching Aircraft," Journal of Aircraft, Vol. 43, No. 5, 2006, pp. 1386-1392.
2. Wickenheiser, A., Garcia, E., Waszak, and M., "Longitudinal dynamics of a perching aircraft concept," Proc. SPIE - Int. Soc. Opt. Eng. (USA), Vol. 5764, No. 1, 2005, pp. 192 - 202.
3. Wickenheiser, A. M. and Garcia, E., "Optimization of Perching Maneuvers Through Vehicle Morphing," Journal of Guidance, Control, and Dynamics, Vol. 31, No. 4, July-August 2008, pp. 815-824.
4. Jang, J. S. and Tomlin, C. J., "Autopilot Design for the Stanford DragonFly UAV: Validation through Hardware-in-the-Loop Simulation," 2001.
5. Green, W. E. and Oh, P. Y., "A MAV That Flies Like an Airplane and Hovers Like a Helicopter," July 2005.
6. Green, W. E. and Oh, P. Y., "A Fixed-Wing Aircraft for Hovering in Caves, Tunnels, and Buildings," June 2006.
7. Cory, R. and Tedrake, R., "On the controllability of Agile Fixed-Wing Flight," Proceedings of the 2007 Symposium on Flying Insects and Robots (FIR), August 2007.
8. Frank, A., McGrew, J. S., Valenti, M., Levine, D., and How, J., "Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane," AIAA Guidance, Navigation and Control Conference and Exhibit, AIAA, 2007.
9. Blauwe, H. D., Bayraktar, S., Feron, E., and Lokumcu, F., "Flight Modeling and Experimental Autonomous Hover Control of a Fixed Wing Mini-UAV at High Angle of Attack," AIAA Guidance, Navigation and Control Conference and Exhibit, 2007.
10. Piedmonte, M. and Feron, E., "Aggressive Maneuvering of Autonomous Aerial Vehicles: A Human-Centered Approach," October 1999.
11. Gavrilets, V., Frazzoli, E., Mettler, B., Piedmonte, M., and Feron, E., "Aggressive Maneuvering of Small Autonomous Helicopters: A Human-Centered Approach," The International Journal of Robotics Research, 2001.
12. Sprague, K., Gavrilets, V., Dugail, D., Mettler, B., Feron, E., Martinos, and I., "Design and applications of an avionics system for a miniatureacrobatic helicopter," October 2001.
13. Gavrilets, V., Mettler, B., and Feron, E., "Nonlinear Model for a Small-Size Acrobatic Helicopter," August 2001.
14. Gavrilets, V., Mettler, B., and Feron, E., "Dynamic Model for a Miniature Aerobatic Helicopter,".
15. Gavrilets, V., Martinos, I., Mettler, B., and Feron, E., "Flight test and simulation results for an autonomous aerobatic helicopter," 2002.
16. Gavrilets, V., Martinos, I., Mettler, B., and Feron, E., "Control Logic for Automated Aerobatic Flight of a Miniature Helicopter," August 2002.
17. Bayraktar, S. and Feron, E., "Experiments with small helicopter automated landings at unusual attitudes," arXiv, September 2007.
18. Bagnell, J. A. and Schneider, J. G., "Autonomous Helicopter Control Using Reinforcement Learning Policy Search Methods," May 2001.
19. Ng, A. Y., Kim, H. J., Jordan, M. I., and Sastry, S., "Autonomous helicopter flight via Reinforcement Learning," Advances in Neural Information Processing Systems (NIPS), Vol. 16, 2003.
20. Ng, Y., A., Coates, A., Diel, M., Ganapathi, V., Schulte, J., Tse, B., Berger, E., Liang, and E., "Autonomous inverted helicopter flight via reinforcement learning," International Symposium on Experimental Robotics, 2004.
21. Abbeel, P., Ganapathi, V., and Ng, A. Y., "Learning vehicular dynamics, with application to modeling helicopters," NIPS, 2006.
22. Abbeel, P., Coates, A., Quigley, M., and Ng, A. Y., "An Application of Reinforcement Learning to Aerobatic Helicopter Flight," Proceedings of the Neural Information Processing Systems (NIPS '07), Vol. 19, December 2006.
23. Tangler, J. and Kocurek, J. D., "Wind Turbine Post-Stall Airfoil Performance Characteristics Guidelines for Blade-Element Momentum Methods," 43rd AIAA Aerospace Sciences Meeting and Exhibit, AIAA, 2005.
24. Munos, R. and Moore, A., "Variable Resolution Discretization in Optimal Control," Machine Learning, Vol. 49, No. 2/3, November/December 2002, pp. 291-323.
25. Sutton, R. S. and Barto, A. G., Reinforcement Learning: An Introduction, MIT Press, 1998.
26. Bertsekas, D. P., Dynamic Programming and Optimal Control, Athena Scientific, 2nd ed., 2000.
27. Tedrake, R. L., Applied Optimal Control for Dynamically Stable Legged Locomotion, Ph.D. thesis, Massachusetts Institute of Technology, 2004.
28. Lam, K. and Leung, M., "Asymmetric vortex shedding flow past an inclined flat plate at high incidence," European Journal of Mechanics B/Fluids, Vol. 24, 2005.