Martin, Paul

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  • Publication
    Demo Abstract: R.A.V.E.N. – Remote Autonomous Vehicle Explorer Network
    (2011-04-12) Martin, Paul; Etter, William H; Mangharam, Rahul
    Unmanned aerial vehicles (UAVs) have recently become a viable platform for surveillance and exploration tasks. Several commercial quadrotor aircraft have been successfully used as surveillance equipment with groups such as United States and Canadian police forces, and additional applications for this technology could include exploration of ra-dioactive/hazmat environments, naval search and rescue, or surveying a building on fire, to name a few. Despite the agility and speed of the quadrotor platform, current systems lack the redundancy and collaboration of a multi-unit team; current implementations of quadrotor UAV flocks require expensive equipment, limiting the system to operation within range of external sensors. We propose a system for intelligently controlling multiple quadrotor UAVs using a combination of on-board vision tracking and wireless communication of attitude measurements. The proposed system uses a lead, human-controlled quadrotor and one or more quadro-tors that track and follow the lead unit autonomously. The forthcoming system aims to improve the execution time required to complete missions and increase both breadth of search and platform effectiveness.
  • Publication
    Cooperative Flight Guidance of Autonomous Unmanned Aerial Vehicles
    (2011-01-01) Etter, William H; Martin, Paul; Mangharam, Rahul
    As robotic platforms and unmanned aerial vehicles (UAVs) increase in sophistication and complexity, the ability to determine the spatial orientation and placement of the platform in real time (localization) becomes an important issue. Detecting and extracting locations of objects, barriers, and openings is required to ensure the overall effectiveness of the device. Current methods to achieve localization for UAVs require expensive external equipment and limit the overall applicable range of the platform. The system described herein incorporates leader-follower unmanned aerial vehicles using vision processing, radio-frequency data transmission, and additional sensors to achieve flocking behavior. This system targets search and rescue environments, employing controls, vision processing, and embedded systems to allow for easy deployment of multiple quadrotor UAVs while requiring the control of only one. The system demonstrates a relative localization scheme for UAVs in a leader-follower configuration, allowing for predictive maneuvers including path following and estimation of the lead UAV in situations of limited or no line-of-sight.