Citation
Jonathan Sprinkle, J. Mikael Eklund, Shankar Sastry. "Deciding to Land a UAV Safely in Real Time". Proceedings of American Control Conference (ACC) 2005, 3506-3511, June, 2005.

Abstract
The difficulty of autonomous free-flight of a fixed-wing UAV is trivial when compared to that of takeoff and landing. There is an even more marked difference when deciding whether or not a UAV can capture or recapture a certain trajectory, since the answer depends on the operating ranges of the aircraft. A common example of requiring this calculation, from a military perspective, is the determination of whether or not an aircraft can capture a landing trajectory (i.e., glideslope) from a certain initial state (velocity, position, etc.). As state dimensions increase, the time to calculate the decision grows exponentially. This paper describes how we can make this decision at flight time, and guarantee that the decision gives a safe answer before the state changes enough to invalidate the decision. We also describe how the computations should be formulated, and how the partitioning of the state-space can be done to reduce the computation time required. Flight testing was performed with our design, and results are given.

Electronic downloads

• http://ieeexplore.ieee.org/iel5/9861/31519/01470516.pdf?tp=&arnumber=1470516&isnumber=31519

• HTML

  Jonathan Sprinkle, J. Mikael Eklund, Shankar Sastry. <a
  href="http://chess.eecs.berkeley.edu/pubs/69.html"
  >Deciding to Land a UAV Safely in Real Time</a>,
  Proceedings of American Control Conference (ACC) 2005,
  3506-3511, June, 2005.

• Plain text

  Jonathan Sprinkle, J. Mikael Eklund, Shankar Sastry.
  "Deciding to Land a UAV Safely in Real Time".
  Proceedings of American Control Conference (ACC) 2005,
  3506-3511, June, 2005.

• BibTeX

  @inproceedings{SprinkleEklundSastry05_DecidingToLandUAVSafelyInRealTime,
      author = {Jonathan Sprinkle and J. Mikael Eklund and Shankar
                Sastry},
      title = {Deciding to Land a UAV Safely in Real Time},
      booktitle = {Proceedings of American Control Conference (ACC)
                2005},
      pages = {3506-3511},
      month = {June},
      year = {2005},
      abstract = {The difficulty of autonomous free-flight of a
                fixed-wing UAV is trivial when compared to that of
                takeoff and landing. There is an even more marked
                difference when deciding whether or not a UAV can
                capture or recapture a certain trajectory, since
                the answer depends on the operating ranges of the
                aircraft. A common example of requiring this
                calculation, from a military perspective, is the
                determination of whether or not an aircraft can
                capture a landing trajectory (i.e., glideslope)
                from a certain initial state (velocity, position,
                etc.). As state dimensions increase, the time to
                calculate the decision grows exponentially. This
                paper describes how we can make this decision at
                flight time, and guarantee that the decision gives
                a safe answer before the state changes enough to
                invalidate the decision. We also describe how the
                computations should be formulated, and how the
                partitioning of the state-space can be done to
                reduce the computation time required. Flight
                testing was performed with our design, and results
                are given.},
      URL = {http://chess.eecs.berkeley.edu/pubs/69.html}
  }
  

Posted by Jonathan Sprinkle on 9 May 2006.
Groups: chess
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