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iDEA: Drexel E-repository and Archives > Drexel Academic Community > College of Engineering > Department of Mechanical Engineering and Mechanics > Faculty Research and Publications (MEM) > Robotic rotorcraft and perch-and-stare: sensing landing zones and handling obscurants

Please use this identifier to cite or link to this item: http://hdl.handle.net/1860/789

Title: Robotic rotorcraft and perch-and-stare: sensing landing zones and handling obscurants
Authors: Danko, Todd W.
Kellas, Andreas
Oh, Paul Y.
Keywords: Helicopters--Automatic control;Robots--Automatic control;Electronic surveillance;Optical detectors
Issue Date: Jul-2005
Publisher: IEEE
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.
URI: http://hdl.handle.net/1860/789
Appears in Collections:Faculty Research and Publications (MEM)

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