Browsing Aerospace Control Laboratory: Technical Reports by Issue Date
Now showing items 1-15 of 15
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Hover, Transition, and Level Flight Control Design for a Single-Propeller Indoor Airplane
(2007-05-15)This paper presents vehicle models and test flight results for an autonomous fixed-wing airplane that is designed to take-off, hover, transition to and from level-flight modes, and perch on a vertical landing platform in ... -
Equivalence between Approximate Dynamic Inversion and Proportion-Integral Control
(2008-09-29)Approximate Dynamic Inversion (ADI) has been established as a method to control minimum-phase, nonaffine-in-control systems. Previous results have shown that for single-input nonaffine-in-control systems, every ADI controller ... -
Reaching Consensus with Imprecise Probabilities over a Network
(2008-12-20)This paper discusses the problem of a distributed network of agents attempting to agree on an imprecise probability over a network. Unique from other related work however, the agents must reach agreement while accounting ... -
On Approximate Dynamic Inversion
(2009-05-08)Approximate Dynamic Inversion has been established as a method to control minimum-phase, nonaffine-in-control systems [1]. In this report, we re-state the main results of [1], clarify some minor notational errors, and prove ... -
Using Support Vector Machines and Bayesian Filtering for Classifying Agent Intentions at Road Intersections
(2009-09-15)Classifying other agents’ intentions is a very complex task but it can be very essential in assisting (autonomous or human) agents in navigating safely in dynamic and possibly hostile environments. This paper introduces a ... -
Gradient Projection Anti-windup Scheme on Constrained Planar LTI Systems
(2010-03-15)The gradient projection anti-windup (GPAW) scheme was recently proposed as an anti-windup method for nonlinear multi-input-multi-output systems/controllers, the solution of which was recognized as a largely open problem ... -
Corrections to "Geometric Properties of Gradient Projection Anti-windup Compensated Systems"
(2010-06-29)In a conference paper titled "Geometric Properties of Gradient Projection Anti-windup Compensated Systems," two main results were presented. The first is the controller state-output consistency property of gradient projection ... -
Threat-aware Path Planning in Uncertain Urban Environments [Attached Video]
(IEEE, 2010-10-01)This paper considers the path planning problem for an autonomous vehicle in an urban environment populated with static obstacles and moving vehicles with uncertain intents. We propose a novel threat assessment module, ... -
Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns
(2011-07-04)This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment, including dynamic obstacles with uncertain ... -
Efficient distributed information fusion using value of information based censoring
(2012-07-27)In many distributed sensing applications, not all agents have valuable information at all times. Therefore, requiring all agents to communicate at all times can be resource intensive. In this work, the notion of Value ... -
Supplementary material for nonparameteric adaptive control of time varying systems using gaussian processes
(2013-03-15)Real-world dynamical variations make adaptive control of time-varying systems highly relevant. However, most adaptive control literature focuses on analyzing systems where the uncertainty is represented as a weighted linear ... -
Efficient Distributed Sensing Using Adaptive Censoring-Based Inference
(2013-03-15)In many distributed sensing applications it is likely that only a few agents will have valuable information at any given time. Since wireless communication between agents is resource-intensive, it is important to ensure ... -
Bayesian Nonparametric Adaptive Control using Gaussian Processes
(2013-03-15)Most current Model Reference Adaptive Control (MRAC) methods rely on parametric adaptive elements, in which the number of parameters of the adaptive element are fixed a priori, often through expert judgment. An example ... -
Learning Sparse Gaussian Graphical Model with l0-regularization
(2014-08-22)For the problem of learning sparse Gaussian graphical models, it is desirable to obtain both sparse structures as well as good parameter estimates. Classical techniques, such as optimizing the l1-regularized maximum ...
