Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Multigrid
Robot Path Planning Using Fluid Model
Journal of Intelligent and Robotic Systems
A Dynamical Model of Visually-Guided Steering, Obstacle Avoidance, and Route Selection
International Journal of Computer Vision - Special Issue on Computational Vision at Brown University
Optimal motion estimation from visual and inertial measurements
WACV '02 Proceedings of the Sixth IEEE Workshop on Applications of Computer Vision
Scene modeling from motion-free radar sensing
Scene modeling from motion-free radar sensing
Maneuver-based motion planning for nonlinear systems with symmetries
IEEE Transactions on Robotics
Remotely controlled intelligent vehicle to handle public places security
WSEAS TRANSACTIONS on SYSTEMS
Intellibot: remotely controlled intelligent vehicle
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
Vision-based control of near-obstacle flight
Autonomous Robots
An Efficient Path Planning and Control Algorithm for RUAV's in Unknown and Cluttered Environments
Journal of Intelligent and Robotic Systems
Efficient C-space and cost function updates in 3D for unmanned aerial vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
IJCNN'09 Proceedings of the 2009 international joint conference on Neural Networks
A visual navigation system for autonomous flight of micro air vehicles
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Three dimensional extension of Bresenham's Algorithm with Voronoi diagram
Computer-Aided Design
Multi-Purpose Environment Awareness Approach for Single Line Laser Scanner in a Small Rotorcraft UA
Journal of Intelligent and Robotic Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Observability-based local path planning and obstacle avoidance using bearing-only measurements
Robotics and Autonomous Systems
Spline-Based RRT Path Planner for Non-Holonomic Robots
Journal of Intelligent and Robotic Systems
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Safe autonomous flight is essential for widespread acceptance of aircraft that must fly close to the ground. We have developed a method of collision avoidance that can be used in three dimensions in much the same way as autonomous ground vehicles that navigate over unexplored terrain. Safe navigation is accomplished by a combination of online environmental sensing, path planning and collision avoidance. Here we outline our methodology and report results with an autonomous helicopter that operates at low elevations in uncharted environments, some of which are densely populated with obstacles such as buildings, trees and wires. We have recently completed over 700 successful runs in which the helicopter traveled between coarsely specified waypoints separated by hundreds of meters, at speeds of up to 10 m s—1 at elevations of 5—11 m above ground level. The helicopter safely avoids large objects such as buildings and trees but also wires as thin as 6 mm. We believe this represents the first time an air vehicle has traveled this fast so close to obstacles. The collision avoidance method learns to avoid obstacles by observing the performance of a human operator.