The USC AFV-I: A Behavior-Based Entry in the 1994 International Aerial Robotics Competition

The International Aerial Robotics Competition is an annual event sponsored by the Association for Unmanned Vehicle Systems (AUVS). The competition requires flying robots to locate, manipulate, and transport objects from one location to another. These tasks are carried out under extreme conditions. A robot must operate without human guidance, ensuring system survival, while completing the goals of the competition within a fixed time limit. Creating a flying robot with these capabilities presents many challenges. The robot has to make control decisions that achieve its goals based upon imperfect sensory data while adapting to unexpected situations such as gusts of wind or sensor failure. Additionally, these decisions need to be made in real-time to maintain the safety of the craft. Teams of university students from around the world enter the competition, using a variety of approaches.