Fibonacci heaps and their uses in improved network optimization algorithms
Journal of the ACM (JACM)
A New Method to Evaluate Human-Robot System Performance
Autonomous Robots
HSCC '01 Proceedings of the 4th International Workshop on Hybrid Systems: Computation and Control
Operational performance metrics for mars exploration rovers: Field Reports
Journal of Field Robotics
Complexity of the mover's problem and generalizations
SFCS '79 Proceedings of the 20th Annual Symposium on Foundations of Computer Science
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Research Infrastructure for Interactive Human- and Autonomous Guidance
Journal of Intelligent and Robotic Systems
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Unmanned aerial vehicles (UAVs) present in a wide range of scales, airframe types and possible systems configurations. Assessing how these different systems perform, therefore, should be an essential part of their design. This task, however, is particularly difficult due to the complex, dynamic interactions these vehicles are capable of, and the often complex operational conditions. In this paper we describe and apply an evaluation framework based on spatial cost-to-go (SCTG) maps. These maps describe the spatial distributions of optimal state and cost-to-go for a given geographical environment, and are computed using a finite-state approximation of the vehicle dynamics. The SCTG maps embed the interaction effects between vehicle dynamics and environment, and thus provide a rigorous basis for the evaluation of the airframe, various system and environment factors. The paper describes the results obtained applying this framework to a basic goal-directed guidance task taking place in an urban environment. Three small-scale UAV types are compared: a fixed-wing aircraft, a standard helicopter, and a quad-rotorcraft. Both minimum-time and minimum-energy performance criteria are analyzed to determine overall performance characteristics and highlight the basic features of the proposed framework.