In this paper a calibration method for on-board cameras used on the ARGO autonomous vehicle is presented. A number of markers have been placed on the vehicle’s hood, which is framed by the vision system. Thanks to the knowledge of the markers’ position it is possible to compute camera position and orientation with respect to the vehicle. Being based on fast computations, this procedure –of basi...

Small ducted fan autonomous vehicles have potential for several applications, especially for missions in urban environments. This paper discusses the use of dynamic inversion with neural network adaptation to provide an adaptive controller for the GTSpy, a small ducted fan autonomous vehicle based on the Micro Autonomous Systems’ Helispy. This approach allows utilization of the entire flight en...

This paper is the first in a two-part series that introduces an easy-to-implement central command architecture for high-order autonomous unmanned aerial systems. This paper discusses the development and the second paper presents the flight test results. As shown in this paper, the central command architecture consists of a central command block, an autonomous planning block, and an autonomous f...

This paper describes a data set collected by MIT’s autonomous vehicle Talos during the 2007 DARPA Urban Challenge. Data from a high precision navigation system, 5 cameras, 12 SICK planar laser range scanners, and a Velodyne high density laser range scanner were synchronized and logged to disk for 90km of travel. In addition to documenting a number of large loop closures useful for developing ma...

The path planning is one of the key issues of autonomous vehicle. In this paper, a behavior-based method is used for path planning. This method can manage complexity environment and is easy to design and test behaviors. An autonomous electric vehicle is tested in a driving course including the behaviors of road following, turning, obstacle avoidance and emergency braking. The test results show ...

Autonomous vehicles are expected to play a key role in the future of urban transportation systems, as they offer potential for additional safety, increased productivity, greater accessibility, better road efficiency, and positive impact on the environment. Research in autonomous systems has seen dramatic advances in recent years, due to the increases in available computing power and reduced cos...

In this paper, an attempt has been made to introduce a new control strategy including Plug-in Hybrid Electric Vehicle (PHEV) and Diesel engine generator to control the voltage and frequency of autonomous microgrids. The proposed control strategy has multiple advantages over the recent control methods in microgrids. The proposed method applies the primary and secondary frequency control strategy...