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Robotic rotorcraft and perch-and-stare: sensing landing zones and handling obscurants
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|Title: ||Robotic rotorcraft and perch-and-stare: sensing landing zones and handling obscurants|
|Authors: ||Danko, Todd W.|
Oh, Paul Y.
|Keywords: ||Helicopters--Automatic control;Robots--Automatic control;Electronic surveillance;Optical detectors|
|Issue Date: ||Jul-2005|
|Citation: ||IEEE International Conference on Advanced Robotics, pp. 296-302, July 2005. Retrieved April 2006 from http://prism2.mem.drexel.edu/~paul/papers/dankoIcar2005.pdf|
|Abstract: ||Perch and stare is a maneuver where a vehicle flies
to an overhead vantage point to provide a user with improved
tactical information. This may include landing on rooftops, flying
from rooftop to rooftop, or to windowsills all while carrying
cameras or other intelligence gathering sensors.
Miniature rotorcraft are ideal surveillance platforms, especially
for perch and stare maneuvers because of their unique
ability to take off and land vertically. Minimal vehicle size and
weight also greatly enhance portability.
Real world environmental influences such as fog, smoke, wind
and cluttered or moving landing areas greatly complicate perch
and stare maneuvers. This paper describes the application of
optic flow and ultrasonic range finding sensors to increase miniature
robotic rotorcraft autonomy for perch and stare maneuvers,
especially in degraded environments.|
|Appears in Collections:||Faculty Research and Publications (MEM)|
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