Applying the PPO Algorithm to Fixed-Wing UAV Attitude Control

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis Applying the PPO Algorithm to Fixed-Wing UAV Attitude Control by : Po-Hsun Wu

Download or read book Applying the PPO Algorithm to Fixed-Wing UAV Attitude Control written by Po-Hsun Wu and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis applies the reinforcement learning (RL) to design the attitude controller for fixed-wing unmanned aerial vehicle. In contrast to traditional linear control theory, which are limited to linearization, or complex nonlinear control theory solving processes, reinforcement learning utilizes an artificial neural network as the control law and applies RL algorithm to train the network by adjusting its parameters. The results demonstrate that the controller designed using the RL framework exhibits advantages over traditional control laws. Within the RL architecture, there are four main elements: policy, algorithm, reward function, and environment. In this thesis, a combination of a quadratic performance index and a time varying coefficient is used as the reward function. The categorize policy is employed as the controller, and the linearized UAV dynamic model and the fourth order Runge-Kutta method are utilized as the training environment. The Proximal Policy Optimization algorithm (PPO algorithm) is used to train the policy. Upon completing the training, a neural network controller is obtained. The results demonstrate that the trained controller successfully achieves the goal of controlling the UAV's attitude.

Deep Learning for Unmanned Systems

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Publisher : Springer Nature
ISBN 13 : 3030779394
Total Pages : 731 pages
Book Rating : 4.0/5 (37 download)

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Book Synopsis Deep Learning for Unmanned Systems by : Anis Koubaa

Download or read book Deep Learning for Unmanned Systems written by Anis Koubaa and published by Springer Nature. This book was released on 2021-10-01 with total page 731 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is used at the graduate or advanced undergraduate level and many others. Manned and unmanned ground, aerial and marine vehicles enable many promising and revolutionary civilian and military applications that will change our life in the near future. These applications include, but are not limited to, surveillance, search and rescue, environment monitoring, infrastructure monitoring, self-driving cars, contactless last-mile delivery vehicles, autonomous ships, precision agriculture and transmission line inspection to name just a few. These vehicles will benefit from advances of deep learning as a subfield of machine learning able to endow these vehicles with different capability such as perception, situation awareness, planning and intelligent control. Deep learning models also have the ability to generate actionable insights into the complex structures of large data sets. In recent years, deep learning research has received an increasing amount of attention from researchers in academia, government laboratories and industry. These research activities have borne some fruit in tackling some of the challenging problems of manned and unmanned ground, aerial and marine vehicles that are still open. Moreover, deep learning methods have been recently actively developed in other areas of machine learning, including reinforcement training and transfer/meta-learning, whereas standard, deep learning methods such as recent neural network (RNN) and coevolutionary neural networks (CNN). The book is primarily meant for researchers from academia and industry, who are working on in the research areas such as engineering, control engineering, robotics, mechatronics, biomedical engineering, mechanical engineering and computer science. The book chapters deal with the recent research problems in the areas of reinforcement learning-based control of UAVs and deep learning for unmanned aerial systems (UAS) The book chapters present various techniques of deep learning for robotic applications. The book chapters contain a good literature survey with a long list of references. The book chapters are well written with a good exposition of the research problem, methodology, block diagrams and mathematical techniques. The book chapters are lucidly illustrated with numerical examples and simulations. The book chapters discuss details of applications and future research areas.

Nonlinear Control of Fixed-Wing UAVs with Time-Varying and Unstructured Uncertainties

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Publisher : Springer Nature
ISBN 13 : 3030407160
Total Pages : 119 pages
Book Rating : 4.0/5 (34 download)

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Book Synopsis Nonlinear Control of Fixed-Wing UAVs with Time-Varying and Unstructured Uncertainties by : Michail G. Michailidis

Download or read book Nonlinear Control of Fixed-Wing UAVs with Time-Varying and Unstructured Uncertainties written by Michail G. Michailidis and published by Springer Nature. This book was released on 2020-02-21 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a comprehensive and mathematically rigorous controller design for families of nonlinear systems with time-varying parameters and unstructured uncertainties. Although the presented methodology is general, the specific family of systems considered is the latest, NextGen, unconventional fixed-wing unmanned aircraft with circulation control or morphing wings, or a combination of both. The approach considers various sources of model and parameter uncertainty, while the controller design depends not on a nominal plant model, but instead on a family of admissible plants. In contrast to existing controller designs that consider multiple models and multiple controllers, the proposed approach is based on the ‘one controller fits all models’ within the unstructured uncertainty interval. The book presents a modeling-based analysis and synthesis approach with additive uncertainty weighting functions for accurate realization of the candidate systems. This differs significantly from existing designs in that it is capable of handling time-varying characteristics. This research monograph is suitable for scientists, engineers, researchers and graduate students with a background in control system theory who are interested in complex engineering nonlinear systems.

Analytical Approach to Multi-objective Joint Inference Control for Fixed Wing Unmanned Aerial Vehicles

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ISBN 13 :
Total Pages : 80 pages
Book Rating : 4.:/5 (129 download)

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Book Synopsis Analytical Approach to Multi-objective Joint Inference Control for Fixed Wing Unmanned Aerial Vehicles by : Julian L. Casey

Download or read book Analytical Approach to Multi-objective Joint Inference Control for Fixed Wing Unmanned Aerial Vehicles written by Julian L. Casey and published by . This book was released on 2020 with total page 80 pages. Available in PDF, EPUB and Kindle. Book excerpt: Fixed-wing Unmanned Aerial Vehicles (UAVs) have been found highly useful in various environments, including military and law enforcement. With the increased use of fixed-wing UAVs, there becomes an increased need to optimize the resources available. One approach to resource management is to create multi-objective flights. This thesis presents the design, analysis, and experimental implementation of multi-objective resource management for the resource of Range, distance available to the UAV, from the viewpoint of Intelligence Surveillance and Reconnaissance (ISR). First, a Simulation Environment is created capable of tracking multiple fixed-wing UAVs and to allow for the UAVs' being controlled by an externally driven algorithm. Second, an Inference algorithm is developed with the objective of information seeking. Several algorithms are developed and used in conjunction with a Sequential Analysis test to allow for calculating Target Value, calculating Target Confidence, and validating the calculated Target Value. Third, a Control algorithm is developed with the objective of Target seeking. The Control algorithm uses several approaches to path generation, including Dubins path, Optimized Order path, and Closest Target path. Finally, a supervisor algorithm termed Joint Inference and Control (JIC) joins Inference and Control together. Monte Carlo simulated test flight results are shown to illustrate the effectiveness of the developed algorithms.

Autonomous Take-off and Landing for a Fixed Wing UAV

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (126 download)

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Book Synopsis Autonomous Take-off and Landing for a Fixed Wing UAV by : Israel Lugo Cárdenas

Download or read book Autonomous Take-off and Landing for a Fixed Wing UAV written by Israel Lugo Cárdenas and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work studies some of the most relevant problems in the direction of navigation and control presented in a particular class of mini-aircraft. One of the main objectives is to build a lightweight and easy to deploy vehicle in a short period of time, an unmanned aerial vehicle capable of following a complete mission from take-o⁄ to the following waypoints and complete the mission with an autonomous landing within a delimitated area using a graphical interface in a computer. The Trajectory Generation It is the part that tells the drone where it must travel and are generated by an algorithm built into the drone. The classic result of Dubins is used as a basis for the trajectory generation in 2D and we have extended it to the 3D trajectory generation. A path following strategy developed using the Lyapunov approach is presented to pilot a fixed wing drone across the desired path. The key concept behind the tracking controller is the reduction of the distance between the center of mass of the aircraft p and the point q on the path to zero, as well as the angle between the velocity vector and the vector tangent to the path. In order to test the techniques developed during the thesis a customized C # .Net application was developed called MAV3DSim (Multi-Aerial Vehicle 3D Simulator). The MAV3DSim allows a read / write operation from / to the simulation engine from which we could receive all emulated sensor information and sent to the simulator. The MAV3DSim consists of three main elements, the simulation engine, the computation of the control law and the visualization interface. The simulation engine is in charge of the numeric integration of the dynamic equations of the vehicle, we can choose between a quadrotor and a xed wing drone for use in simulation. The visualization interface resembles a ground station type of application, where all variables of the vehicle s state vector can be represented on the same screen. The experimental platform functions as a test bed for the control law prototyping. The platform consists of a xed wing aircraft with a PX4 which has the autopilot function as well as a Raspberry PI mini-computer which to the implementation of the generation and trajectory tracking. The complete system is capable of performing an autonomous take-o⁄and landing, through waypoints. This is accomplished by using each of the strategies developed during the thesis. We have a strategy for take-o⁄ and landing, which is generated by the navigationon part that is the trajectory generator. Once we have generated the path, it is used by the trajectory tracking strategy and withthat we have landing and take-o⁄ autonomously.

Development of Path Following and Wind Disturbance Rejection Flight Control System for Fixed-Wing UAV Based on Deep Reinforcement Learning

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ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (141 download)

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Book Synopsis Development of Path Following and Wind Disturbance Rejection Flight Control System for Fixed-Wing UAV Based on Deep Reinforcement Learning by :

Download or read book Development of Path Following and Wind Disturbance Rejection Flight Control System for Fixed-Wing UAV Based on Deep Reinforcement Learning written by and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

A Low Cost Implementation of Autonomous Takeoff and Landing for a Fixed Wing UAV

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ISBN 13 :
Total Pages : 85 pages
Book Rating : 4.:/5 (889 download)

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Book Synopsis A Low Cost Implementation of Autonomous Takeoff and Landing for a Fixed Wing UAV by : Thomas W. Carnes

Download or read book A Low Cost Implementation of Autonomous Takeoff and Landing for a Fixed Wing UAV written by Thomas W. Carnes and published by . This book was released on 2014 with total page 85 pages. Available in PDF, EPUB and Kindle. Book excerpt: The take-off and landing of an Unmanned Aerial Vehicle (UAV) is often the most critical and accident prone portion of its mission. This potential hazard coupled with the time and resources necessary to train a remote UAV pilot makes it desirable to have autonomous take-off and landing capabilities for UAVs. However, a robust, reliable, and accurate autonomous takeoff and landing capability for fixed-wing aircraft is not an available feature in many low-cost UAV flight control systems. This thesis describes the design of an autonomous take-off and landing algorithm implemented on an existing low-cost flight control system for a small fixed wing UAV. This thesis also describes the autonomous takeoff and landing algorithm development and gives validation results from hardware in the loop simulation.

Small Unmanned Aircraft

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Publisher : Princeton University Press
ISBN 13 : 1400840600
Total Pages : 317 pages
Book Rating : 4.4/5 (8 download)

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Book Synopsis Small Unmanned Aircraft by : Randal W. Beard

Download or read book Small Unmanned Aircraft written by Randal W. Beard and published by Princeton University Press. This book was released on 2012-02-26 with total page 317 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.

Mastering Machine Learning Algorithms

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Publisher : Packt Publishing Ltd
ISBN 13 : 1788625900
Total Pages : 567 pages
Book Rating : 4.7/5 (886 download)

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Book Synopsis Mastering Machine Learning Algorithms by : Giuseppe Bonaccorso

Download or read book Mastering Machine Learning Algorithms written by Giuseppe Bonaccorso and published by Packt Publishing Ltd. This book was released on 2018-05-25 with total page 567 pages. Available in PDF, EPUB and Kindle. Book excerpt: Explore and master the most important algorithms for solving complex machine learning problems. Key Features Discover high-performing machine learning algorithms and understand how they work in depth. One-stop solution to mastering supervised, unsupervised, and semi-supervised machine learning algorithms and their implementation. Master concepts related to algorithm tuning, parameter optimization, and more Book Description Machine learning is a subset of AI that aims to make modern-day computer systems smarter and more intelligent. The real power of machine learning resides in its algorithms, which make even the most difficult things capable of being handled by machines. However, with the advancement in the technology and requirements of data, machines will have to be smarter than they are today to meet the overwhelming data needs; mastering these algorithms and using them optimally is the need of the hour. Mastering Machine Learning Algorithms is your complete guide to quickly getting to grips with popular machine learning algorithms. You will be introduced to the most widely used algorithms in supervised, unsupervised, and semi-supervised machine learning, and will learn how to use them in the best possible manner. Ranging from Bayesian models to the MCMC algorithm to Hidden Markov models, this book will teach you how to extract features from your dataset and perform dimensionality reduction by making use of Python-based libraries such as scikit-learn. You will also learn how to use Keras and TensorFlow to train effective neural networks. If you are looking for a single resource to study, implement, and solve end-to-end machine learning problems and use-cases, this is the book you need. What you will learn Explore how a ML model can be trained, optimized, and evaluated Understand how to create and learn static and dynamic probabilistic models Successfully cluster high-dimensional data and evaluate model accuracy Discover how artificial neural networks work and how to train, optimize, and validate them Work with Autoencoders and Generative Adversarial Networks Apply label spreading and propagation to large datasets Explore the most important Reinforcement Learning techniques Who this book is for This book is an ideal and relevant source of content for data science professionals who want to delve into complex machine learning algorithms, calibrate models, and improve the predictions of the trained model. A basic knowledge of machine learning is preferred to get the best out of this guide.

Congress on Intelligent Systems

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Publisher : Springer Nature
ISBN 13 : 9813369841
Total Pages : 801 pages
Book Rating : 4.8/5 (133 download)

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Book Synopsis Congress on Intelligent Systems by : Harish Sharma

Download or read book Congress on Intelligent Systems written by Harish Sharma and published by Springer Nature. This book was released on 2021-06-01 with total page 801 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a collection of selected papers presented at the First Congress on Intelligent Systems (CIS 2020), held in New Delhi, India, during September 5–6, 2020. It includes novel and innovative work from experts, practitioners, scientists, and decision-makers from academia and industry. It covers topics such as Internet of Things, information security, embedded systems, real-time systems, cloud computing, big data analysis, quantum computing, automation systems, bio-inspired intelligence, cognitive systems, cyber physical systems, data analytics, data/web mining, data science, intelligence for security, intelligent decision making systems, intelligent information processing, intelligent transportation, artificial intelligence for machine vision, imaging sensors technology, image segmentation, convolutional neural network, image/video classification, soft computing for machine vision, pattern recognition, human–computer interaction, robotic devices and systems, autonomous vehicles, intelligent control systems, human motor control, game playing, evolutionary algorithms, swarm optimization, neural network, deep learning, supervised learning, unsupervised learning, fuzzy logic, rough sets, computational optimization, and neuro-fuzzy systems.

L1 Adaptive Control Theory

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Publisher : SIAM
ISBN 13 : 0898717043
Total Pages : 333 pages
Book Rating : 4.8/5 (987 download)

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Book Synopsis L1 Adaptive Control Theory by : Naira Hovakimyan

Download or read book L1 Adaptive Control Theory written by Naira Hovakimyan and published by SIAM. This book was released on 2010-09-30 with total page 333 pages. Available in PDF, EPUB and Kindle. Book excerpt: Contains results not yet published in technical journals and conference proceedings.

Unmanned Aerial Systems

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Publisher : Academic Press
ISBN 13 : 0128202777
Total Pages : 652 pages
Book Rating : 4.1/5 (282 download)

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Book Synopsis Unmanned Aerial Systems by : Anis Koubaa

Download or read book Unmanned Aerial Systems written by Anis Koubaa and published by Academic Press. This book was released on 2021-01-21 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned Aerial Systems: Theoretical Foundation and Applications presents some of the latest innovative approaches to drones from the point-of-view of dynamic modeling, system analysis, optimization, control, communications, 3D-mapping, search and rescue, surveillance, farmland and construction monitoring, and more. With the emergence of low-cost UAS, a vast array of research works in academia and products in the industrial sectors have evolved. The book covers the safe operation of UAS, including, but not limited to, fundamental design, mission and path planning, control theory, computer vision, artificial intelligence, applications requirements, and more. This book provides a unique reference of the state-of-the-art research and development of unmanned aerial systems, making it an essential resource for researchers, instructors and practitioners. Covers some of the most innovative approaches to drones Provides the latest state-of-the-art research and development surrounding unmanned aerial systems Presents a comprehensive reference on unmanned aerial systems, with a focus on cutting-edge technologies and recent research trends in the area

2018 IEEE AIAA 37th Digital Avionics Systems Conference (DASC)

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Publisher :
ISBN 13 : 9781538641132
Total Pages : pages
Book Rating : 4.6/5 (411 download)

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Book Synopsis 2018 IEEE AIAA 37th Digital Avionics Systems Conference (DASC) by : IEEE Staff

Download or read book 2018 IEEE AIAA 37th Digital Avionics Systems Conference (DASC) written by IEEE Staff and published by . This book was released on 2018-09-23 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Focus on both avionics and air traffic management Also addresses UAVs, Cybersecurity, CNS and space systems

Unmanned Aircraft Systems

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Publisher : John Wiley & Sons
ISBN 13 : 1118866452
Total Pages : 740 pages
Book Rating : 4.1/5 (188 download)

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Book Synopsis Unmanned Aircraft Systems by : Ella Atkins

Download or read book Unmanned Aircraft Systems written by Ella Atkins and published by John Wiley & Sons. This book was released on 2017-01-17 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.

Handbook of Marine Craft Hydrodynamics and Motion Control

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Publisher : John Wiley & Sons
ISBN 13 : 1119575036
Total Pages : 96 pages
Book Rating : 4.1/5 (195 download)

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Book Synopsis Handbook of Marine Craft Hydrodynamics and Motion Control by : Thor I. Fossen

Download or read book Handbook of Marine Craft Hydrodynamics and Motion Control written by Thor I. Fossen and published by John Wiley & Sons. This book was released on 2021-04-16 with total page 96 pages. Available in PDF, EPUB and Kindle. Book excerpt: Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz

Cooperative Path Planning of Unmanned Aerial Vehicles

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Publisher : John Wiley & Sons
ISBN 13 : 0470974648
Total Pages : 216 pages
Book Rating : 4.4/5 (79 download)

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Book Synopsis Cooperative Path Planning of Unmanned Aerial Vehicles by : Antonios Tsourdos

Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by John Wiley & Sons. This book was released on 2010-11-09 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.

Technology and the Air Force

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Publisher : DIANE Publishing
ISBN 13 : 1437912877
Total Pages : 344 pages
Book Rating : 4.4/5 (379 download)

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Book Synopsis Technology and the Air Force by : Jacob Neufeld

Download or read book Technology and the Air Force written by Jacob Neufeld and published by DIANE Publishing. This book was released on 2009-06 with total page 344 pages. Available in PDF, EPUB and Kindle. Book excerpt: Proceedings of a symposium co-sponsored by the Air Force Historical Foundation and the Air Force History and Museums Program. The symposium covered relevant Air Force technologies ranging from the turbo-jet revolution of the 1930s to the stealth revolution of the 1990s. Illustrations.