This paper describes a feasibility study that is included with the research, development and testing of a micro communications sonobuoy deployable by Maritime Fixed wing Unmanned Aerial Vehicles (M-UAV) and rotor wing Quad Copters which are both currently being developed by the University of Adelaide. The micro communications sonobuoy is developed to act as a seamless communication relay betwee...

Autonomous vehicles will be used without a driver. This will make them less inspected because the driver often listens to the engine and its sounds; however, a passenger in an autonomous vehicle will do other things and even sleep, so there will be no effective inspection on the engine and particularly on the pipes system. This paper suggests a technique to alert about worn out pipes before the...

Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulati...

The problem of motion planning of an autonomous vehicle amidst other vehicles on a straight road is considered. Traffic in a number of countries is unorganized, where the vehicles do not move within predefined speed lanes. In this paper, we formulate a mechanism wherein an autonomous vehicle may travel on the ―wrong‖ side in order to overtake a vehicle. Challenges include assessing a possible o...

This paper presents the design and development of the software and control architecture of the Centaur, an autonomous amphibious and all-terrain utility vehicle project. The adaptation of a hybrid between planning and behaviour based control architectures for the vehicle is explained using decomposition methods. This paper will show how subsystems relate and operate with each other to accomplis...

The new Carnegie Mellon Autonomous I and Vehicle group has produced the first demonstrations of road following robots. In this paper we first describe the robots that are part of the CMU Autonomous Land Vehicle project. We next describe the vision system of the CMU ALV. We then present the control algorithms, including a simple and stable control scheme for visual servoing. Finally we discuss o...

This paper describes the basic control, navigation, and mapping methods and experiments a hovering autonomous underwater vehicle (AUV) designed to explore flooded cenotes in Mexico as part of the DEPTHX project. We describe the low level control system of the vehicle, and present a dead reckoning navigation filter that compensates for frequent Doppler velocity log (DVL) dropouts. Sonar data col...

The Trolley problem is very well-known ethics dilemma about actively killing one or sometimes even more persons in order to save more persons. The problem can occur in autonomous vehicles when the vehicle realizes that there is no way to prevent a collision, the computer of the vehicle should analyze which collision is considered to be the least harmful collision. In this paper we suggest a met...

This paper describes an intelligent autonomous airborne flight capability that is being used as a test bed for future technology development. The unmanned air vehicles (UAVs) fly under autonomous control of both an onboard computer and an autopilot. The onboard computer provides the mission control and runs the autonomous Intelligent Controller (IC) software while the autopilot controls the veh...

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: naviga...