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«An Autonomous Vision-Guided Helicopter Omead Amidi August 1996 Department of Electrical and Computer Engineering Carnegie Mellon University ...»

-- [ Page 13 ] --

138 Appendix B. Lessons Learned Bibliography R. W. Prouty. Helicopter Pe~ormance, Stability, and Control. Robert E. Kreiger Publishing Co., 1990.

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A. Yue, I. Postlethwaite, and G. Padfield. H Infinity design and the improvement of helicopter handling qualities. Vertica, 13(2):119-132, 1989.

U. Christen, M. E Weilenman, and H. P. Geering. Design of H2 and H infinity controllers with two degrees of freedom. Proceedings of the 1994 American Control Conference (Cat. No.

94CH3390-2), 1994.

M. E Weilenman, U. Christen, and H. P. Geering. Robust helicopter position control at hover.

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f R. A. Hess and Y. C. Jung. An application of generalized predictive control to rotorcraft terrain-following flight. ZEEE Transactions on Systems, Man, and Cybernetics, 19(5), 1989.

B. K. Townsend. The application of quadratic optimal cooperative control synthesis to a CHhelicopter. Journal of the American Helicopter Society, pages 3 3 4 4, January 1987.

R. A. Hess and K. K. Chane. Preview control pilot model for near-earth maneuvering helicopter flight. Journal o Guidance, 11(2):146-152, April 1988.

f D. E Enns. Multivariable flight control for an attack helicopter. ZEEE Control Systems Magazine, April 1987.

M. Sugeno, T. Murofushi, J. Nishino, and H. Miwa. Helicopter flight control based on fuzzy logic. Fuuy Engineering toward Human Friendly Systems, 1991.

H. Ekerol and D. Hodgson. A machine vision system for high speed object tracking using a moments algorithm. Mechatronics, 2(6):555-565, Dec. 1992.

H. Inoue, T. Tachikawa, and M. Inaba. Robot vision system with a correlation chip for realtime tracking, optical flow and depth map generation. Proc. 1992 ZEEE Znt. Con$ on Robotics and Automation, 2: 1621-1626, May 1992.

Bibliography

N. Papanikolopoulos, P. Khosla, and T. Kanade. Visual tracking of a moving target by a camera mounted on a robot : a combination of control and vision. IEEE Trans. Robot. Autom., 9( 1): 14-35, Feb. 1993.

A. Rizzi, L. Whitcomb, and D. Koditschek. Distributed real-time control of a spatial robot juggler. Computer, 25(5): 12-24, May 1992.

R. Luo and R. Mullen Jr. Combined vision / ultrasonics for multi-dimensional robotic tracking. Sensor Fusion: Spatial Reasoning and Scene Interpretation; Proceedings of the SPIE, 1003:113-122, 1989.

C. Harris and C. Stennett. Rapid - a video rate object tracker. BMVC90 Proceedings o the f British Machine Vision Conference, pages 73-77, Sept. 1990.

C. E. Thorpe. Vision and Navigation: the The Camegie Mellon Navlab. Kluwer Academic Publishers, 1990.

D. Pomerleau. ALVI": An autonomous land vehicle in a neural network. In D. Touretzky, editor, Advances in Neural Information Processing Systems I. Morgan Kaufmann, 1989.

D. Pomerleau and T. Jochem. Rapidly adapting machine vision for automated vehicle steering. IEEE Expert, 11(2), 1996.

M. Hebert and T. Kanade. 3-D vision for outdoor navigation by an autonomous vehicle. In DARPA Workshop on Image Understanding, 1988.

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Technical Report CMU-RI-TR-88-12, Carnegie Mellon University, The Robotics Institute, August 1988.

E. Dickmanns and B. Mysliwetz. Recursive 3-D road and relative ego-state recognition. IEEE Trans. on Pattern Analysis and Machine Intelligence, 14(2):199-213, Feb. 1992.

E. Dickmanns. A general dynamic vision architecture for UGV and UAV. Journal o Applied f Intelligence, 2:25 1-270, 1992.

R. Suorsa and B. Sridhar. A parallel implementation of a multisensor feature-based range-estimation method. Proc. 1993 IEEE Conference on Computer Vision and Pattern Recognition, pages 379-385, 1993.

B. Sridhar, R. Suorsa, and B. Hussien. Vision-based obstacle detection for rotorcraft flight.

Journal of Robotics Systems, 9(6):709-27, 1992.

B. Sridhar, R. Suorsa, and B. Hussien. Vision based techniques for rotorcraft low altitude flight. Intelligent Robotics. Proceedings of the International Symposium, 157 1:27-37, 1991.

R. Michelson. Aerial robotics competition rules. Technical report, Georgia Tech Research Institute, Smyma, Georgia, 1995.

140 Bibliography

A. H. Fagg, M. A. Lewis, J. F. Montgomery, and G. A. Bekey. The USC autonomous flying vehicle: An experiment in real-time behavior-based control. In Proceedings of I993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), Volume 2, pages 1 173-80,1993.

M. A. Lewis, A. H. Fagg, and G. A. Bekey. USC autonomous flying vehicle: An experiment in real-time behavior-based control. In Proceedings of 1993 IEEE International Conference on Robotics and Automation; Atlanta, GA, Volume 2, pages 422-9, 1993.

N. C. Baker, D. C. Mackenzie, and S. Ingallis. Development of an autonomous aerial vehicle:

a case study. In Applied Intelligence: The International Journal of Artificial Intelligence, Neural Networks, and Complex Problem-Solving Technologies, Volume 2, pages 27 1-97, 1992.

K. M. Black, J. 0. Smith, and R. A. Roberts. The uta autonomous aerial vehicle-automatic control. In Proceedings o the IEEE 1992 National Aerospace and Electronics Conference] f NAECON 1992 (Cat. No.92CH3158-3); Dayton, OH, Volume xvii+l295, pages 489-96, 1992.

R. P. Paul. Robot Manipulators: Mathematics, Programming, and Control. MIT Press, Cambridge, 1980.

R. G. Willson. Modeling and calibration of automated zoom lenses. In Videometrics III; Boston, MA, USA; 2-4 Nov. 1994, Volume 2350, pages 170-86, 1994.

A. Rosenfeld and A. C. Kak. Digital Picture Processing. Academic Press: New York, 1976.

P. Anadan. A computational framework and an algorithm for the measurement of visual motion. In International Journal o Computer Vision, Volume 2, pages 283-3 10, 1989.

f R. S. Cok and J. S. Gerstenberger. A t9000-based parallel image processor. In Transputer Research and Applications, NATUG-6. Proceedings of the Sixth Conference o the North f American Transputer Users Group; Vancouver;BC, Canada, Volume viii+355, pages 142-52, 1993.

D. May and P. Shepherd, and R. Thompson. The T9000 transputer. In IEEE 1992 International Conference on Computer Design: VLSI in Computers and Processors. ICCD '92 (Cat.

No.92CH3189-8); Cambridge, MA, Volume viii+605, pages 209-12, 1992.

M. Atkins. Performance and the i860 microprocessor. IEEE Micro, 1 1(5):24-7, 72-78, 199 1.

N. Margulis. i860 microprocessor internal architecture. Microprocessors and Microsystems, 14(2):89-96, 1990.

S. Parry. Parallel DSP looks to fill transputer gap. New Electronics, 24( 10):43-4, 1991.

Texas Instruments. Texas Instruments TMS32OC4x Users Guide, 1993.

Bibliography

D. Hartley and D. M. Harvey. Analysis of the TMS320C40 communication channels using timed petri nets. In Applications and Theory of Petri Nets 1993. 14th International Conference Proceedings; Chicago, IL, Volume ix59 1, pages 562-7 1, 1993.

E. D. Kaplan. Understanding GPS Principles and Applications. Artech House Publishing, Boston, 1995.

Federal Radionavigation Plan, Dept. of Defense and Dept. of Transportation. Global Positioning System Standard Positioning Service, 1995.

T. J. Ford and J. Neumann. NovAtel's RT20 - a real-time floating ambiguity positioning system. In ION GPS-94, Salt Lake City, 1994.

K. Dowling, R. Guzikowski, J. Ladd, H. Pangels, S. Singh, and W. Whittaker. Navlab: An Autonomous Navigation Testbed, Chapter 12. Kluwer Academic Publishers, 1990.

S. Yoshimura and T. Kanade. Fast template matching based on the normalized correlation by using multiresolution eigenimages. In IEEE/RSJ International Conference on Intelligent Robotics and Systems, Munchen, Germany, August 1994.

K. Fukunaga. Introduction to Statistical Pattern Recognition. Academic Press, Boston, second edition, 1990.

M. Uenohara and T. Kanade. Vision-based object registration for real-time image overlay. In Computer Vision, Virtual Reality and Robotics in Medicine. First International Conference, CVR Med '95; Nice, France, Nice, France, April 1995.

D. Lowe. Robust model-based motion tracking through the integration of search and estimation. In International Journal o Computer Vision, Volume 8, pages 1 13-1 22, 1992.

f

0. D. Faugeras. Three-dimensional Computer Vision: a geometric viewpoint. MIT Press, Boston, 1993.

J. L. Mundy. Image understanding research at GE. In Proceedings of 23rd Image Understanding Workshop, Volume 1, pages 143-7, 1994.

K2T Inc. ZPI-40, 1994.

L. Matthies, R. Szeliski, and T. Kanade. Kalman filter-based algorithms for estimating depth from image sequences. In International Journal o Computer Vision, Volume 3, pages 209-38, f 1989.

0. Amidi, Y. Mesaki, and T. Kanade. Research on An Autonomous Vision-Guided Helicopter.

[57 In Proceedings of AIANNASA Conference on Intelligent Robots in Field, Factory, Service, and Space, League City, Texas, March 1994.

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