Autonomous Helicopter - Robotics Institute Carnegie Mellon University

To develop a vision-guided robot helicopter which can autonomously carry out functions applicable to search and rescue, surveillance, law enforcement, inspection, mapping, and aerial cinematography, in any weather conditions and using only on-board intelligence and computing power.

Displaying 25 Publications

2007

Cascaded Position and Heading Control of a Robotic Helicopter

Marcel Bergerman, Omead Amidi, James Ryan Miller, Nicholas M. Vallidis, and Todd J. Dudek

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 135 - 140, October, 2007

2006

Design and Flight Testing of a High-Bandwidth H-infinity Loop Shaping Controller for a Robotic Helicopter

Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade

Journal Article, Journal of Guidance, Control, and Dynamics, Vol. 29, No. 2, pp. 485 - 494, March, 2006

2005

Image and Depth Coherent Surface Description

Pragyana Mishra

PhD Thesis, Tech. Report, CMU-RI-TR-05-15, Robotics Institute, Carnegie Mellon University, May, 2005

2003

Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters

Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 552 - 557, September, 2003

Design and Flight Testing of a Gain-Scheduled H-infinity Loop Shaping Controller for Wide-Envelope Flight of a Robotic Helicopter

Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade

Conference Paper, Proceedings of American Control Conference (ACC '03), pp. 4195 - 4200, June, 2003

Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters

Marco La Civita

Miscellaneous, PhD Thesis, Mechanical Engineering, Carnegie Mellon University, 2003

2002

Design and Flight Testing of a High-Bandwidth H-infinity Loop Shaping Controller for a Robotic Helicopter

Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade

Conference Paper, Proceedings of AIAA Guidance, Navigation, and Control Conference and Exhibit: Session: GNC-27: Helicopter & VTOL Control, August, 2002

Modeling of Small-Scale Helicopters with Integrated First-Principles and System-Identification Techniques

Marco La Civita, William Messner, and Takeo Kanade

Conference Paper, Proceedings of 58th Forum of the American Helicopter Society, pp. 2505 - 2516, June, 2002

A 3D Color Terrain Modeling System for Small Autonomous Helicopters

James Ryan Miller

PhD Thesis, Tech. Report, CMU-RI-TR-02-07, Robotics Institute, Carnegie Mellon University, February, 2002

System Identification Modeling of a Small-Scale Unmanned Helicopter

Bernard Mettler, M. B. Tischler, and Takeo Kanade

Journal Article, Journal of the American Helicopter Society, Vol. 47, No. 1, pp. 50 - 63, 2002