Autopilot design for A class of miniature autonomous blimps

Cho, Sung‐Jin; Mishra, Vivek; Tao, Qiuyang; Vamell, Paul; King-Smith, Matt; Muni, Aneri; Smallwood, Weston; Zhang, Fumin

doi:10.1109/ccta.2017.8062564

Cited by 48 publications

(32 citation statements)

References 15 publications

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“…The GT-MAB 27 has dynamics that are similar to the dynamics of underwater vehicles. [28][29][30][31] The lighter gas in the GT-MAB induces buoyancy, which plays the same role in restoring force and moment of the GT-MAB as underwater vehicles.…”

Section: Indoor Testbed Developmentmentioning

confidence: 99%

Learning and detecting abnormal speed of marine robots

Cho

Zhang

Edwards

2021

International Journal of Advanced Robotic Systems

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This article presents anomaly detection algorithms for marine robots based on their trajectories under the influence of unknown ocean flow. A learning algorithm identifies the flow field and estimates the through-water speed of a marine robot. By comparing the through-water speed with a nominal speed range, the algorithm is able to detect anomalies causing unusual speed changes. The identified ocean flow field is used to eliminate false alarms, where an abnormal trajectory may be caused by unexpected flow. The convergence of the algorithms is justified through the theory of adaptive control. The proposed strategy is robust to speed constraints and inaccurate flow modeling. Experimental results are collected on an indoor testbed formed by the Georgia Tech Miniature Autonomous Blimp and Georgia Tech Wind Measuring Robot, while simulation study is performed for ocean flow field. Data collected in both studies confirm the effectiveness of the algorithms in identifying the through-water speed and the detection of speed anomalies while avoiding false alarms.

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Section: Indoor Testbed Developmentmentioning

confidence: 99%

Learning and detecting abnormal speed of marine robots

Cho

Zhang

Edwards

2021

International Journal of Advanced Robotic Systems

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“…The blimpduino came at a very affordable price of 90 USD, although it is not available for purchase anymore at the time of writing. A notable example of an autonomous indoor blimp is also the GT-MAB [16], one of the smallest autonomous indoor LTA platforms designed for human-robot interaction and autonomy studies. In [17], the GT-MAB was demonstrated in a human following and gesture recognition scheme, paving the road for flying airship companions.…”

Section: Related Workmentioning

confidence: 99%

A Low-Cost, Open-Source, Robotic Airship for Education and Research

Gorjup

Liarokapis

2020

IEEE Access

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Miniature indoor robotic airship platforms offer high mobility, safety, and extended flight times. This paper focuses on the feasibility, design, development, and evaluation of such a platform for robotics education and research. Selected commercially available envelope materials were considered and tested in terms of their helium retention capability and mechanical properties. The obtained envelope properties were used in a feasibility study, demonstrating that indoor airships are environmentally and financially viable, given an appropriate material choice. The platform's mechanical design was studied in terms of gondola placement and rotor angle positioning, resulting in an unconventional, asymmetric arrangement. The developed system was finally tested in a simple path following experiment for proof-of-concept purposes, proving its efficiency in attaining the desired heading and altitude configuration. The proposed robotic airship platform can be used for a variety of education and research oriented applications. Its design is open-source, facilitating replication by others. INDEX TERMS Airship, lighter-than-air, open educational resources, path following, unmanned aerial vehicles.

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“…8, was developed by the University of Zürich [21]. A similar platform, the Miniature Autonomous Blimp (MAB), was developed by the Georgia Institute of Technology for applications in researching control of underwater vehicles [22][23][24].…”

Section: Aerialmentioning

confidence: 99%

Survey of unmanned subterranean exploration, navigation, and localisation

Martz

Al-Sabban

Smith

2020

IET cyber-systems robotics

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Subsurface networks include mining tunnels, caves, and the urban underground. Each of these environments presents a complex setting with significant challenges in exploration, exploitation, etc. Multiple hazards exist, including environmental and structural, and conditions degrade and change temporally. We present a survey of research in autonomy, networking and mobility focused on exploring and/or mapping subsurface networks in unpredictable and unexplored environments. The focus is on mining tunnels as a proxy subterranean environment; motivated by the proximity of the authors to the Bonita Peak Mining District; a Superfund site consisting of 48 historic mines which have contaminated soil, groundwater and surface water with heavy metals as a result of historic practices. The exploration and assessment of the mining tunnels for remediation efforts presents an extremely challenging problem in subterranean navigation. Arguably, the environment in question is the most extreme and challenging subterranean environment. Unmanned assets must enter to explore and re‐map the tunnels to assess safety for subsequent entrance by robots and/or humans for proper remediation. The survey is split into three categories — Locomotion, GPS‐denied navigation and localization, and Communication. It is concluded with a proposed design for a platform that addresses the difficulties of exploring an abandoned mine

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Autopilot design for A class of miniature autonomous blimps

Cited by 48 publications

References 15 publications

Learning and detecting abnormal speed of marine robots

Learning and detecting abnormal speed of marine robots

A Low-Cost, Open-Source, Robotic Airship for Education and Research

Survey of unmanned subterranean exploration, navigation, and localisation

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