Towards a substantially autonomous aerobot for exploration of Titan

Elfes, Alberto; Hall, Jeffery L.; Montgomery, Jacqueline; Bergh, Charles F.; Dudik, Brenda

doi:10.1109/robot.2004.1307443

Cited by 15 publications

(8 citation statements)

References 6 publications

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“…Therefore, the more power, which also corresponds to faster actuation response, leads to failing of the self-powered capability in this example. Further discussion on the response associated with the velocity and acceleration constraints in (30) is presented in the next section. Figure 20 focuses on time duration of 3 seconds to 7 seconds, which includes to the highest power demand at around 4 seconds time.…”

Section: The Longitudinal Equations Of Motion Using Equationsmentioning

confidence: 99%

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Self-Powered Solar Aerial Vehicles: Towards Infinite Endurance UAVs

et al. 2020

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A self-powered scheme is explored for achieving long-endurance operation, with the use of solar power and buoyancy lift. The end goal is the capability of "infinite" endurance while complying with the UAV dynamics and the required control performance, maneuvering, and duty cycles. Nondimensional power terms related to the UAV power demand and solar energy input are determined in a framework of Optimal Uncertainty Quantification (OUQ). OUQ takes uncertainties and incomplete information in the dynamics and control, available solar energy, and the electric power demand of a solar UAV model into account, and provides an optimal solution for achieving a self-sustained system in terms of energy. Self-powered trajectory tracking, speed and control are discussed. Aerial vehicles of this class can overcome the flight time limitations of current electric UAVs, thereby meeting the needs of many applications. This paper serves as a reference in providing a generalized approach in design of self-powered solar electric multirotor UAVs.

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Section: The Longitudinal Equations Of Motion Using Equationsmentioning

confidence: 99%

“…Aerobots offer "modest power requirements, extended mission duration and long traverse capabilities, and the ability to transport and deploy scientific instruments and in-situ laboratory facilities over vast distances" [30]- [32].…”

Section: Introductionmentioning

confidence: 99%

Self-Powered Solar Aerial Vehicles: Towards Infinite Endurance UAVs

et al. 2020

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“…Autonomous robotic systems have many applications, such as planetary exploration missions like the Titan Aerobot mission proposal [18], and high-risk reconnaissance or security duties, which may be applications of the DARPA Urban Challenge vehicles [10]. As the missions that the robots undertake become more complex, so do the robots' control systems.…”

Section: Introductionmentioning

confidence: 99%

Bisimulation conversion and verification procedure for goal-based control systems

Braman

Murray

2010

Form Methods Syst Des

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Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, addresses these needs with a goal-based control approach. In this paper, a software algorithm for converting goal network control systems into linear hybrid systems is described. The conversion process is a bisimulation; the resulting linear hybrid system can be verified for safety in the presence of failures using existing symbolic model checkers, and thus the original goal network is verified. A moderately complex example goal network control system is converted to a linear hybrid system using the automatic conversion software that is based on the bisimulation and then is verified.

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“…Particularly, opportunistic [35] [36] [37] trajectory generation on which this dissertation focused is taking advantages of circumstances such as current or wind velocities, to generate optimal trajectories for robotic explorers.…”

Section: Tf Minimize J = £(Q(t) Q(t) T)dt Subject To Q(t O ) = a mentioning

confidence: 99%

“…(35) where ftgyr) f2gyr are the gyroscopic forces in the horizontal plane. hgyr is the control force to move the Aerobot vertically.…”

Section: L=ke-pementioning

confidence: 99%