The USC Autonomous Flying Vehicle: An Experiment in Real Time Behavior-Based Control

A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with fourteen sensors, uses a model helicopter as an airframe. The control system utilizes these sensors to a) remain aloft and in stable flight, b) navigate to a target and c) manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. The key contribution of this paper is the demonstration of a situated agent under these severe circumstances; as the craft is airborne, it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity.

• Type: Conference
• Year: 1993
• Where: ICRA
• Authors: M. Anthony Lewis, Andrew H. Fagg, George A. Bekey
• Keywords: Autonomous Flying Vehicle, Control System Architecture, ICRA 1993, Robotics, Terrestrial Mobile Robots