This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynam...

-Mobile Ad Hoc Networks (MANET) performance is affected by a number of factors, eg. speed, node density. In this paper we will focus on the effect of constrained mobility on the performance of the MANET protocol. Experiments were carried out to measure the performance of MANET protocols in two mobility patterns: random waypoint and Metropolitan Grid(M-Grid). The latter reflects the mobility pat...

The task of a Mission Planning System may be defined as the specification of a desirable trajectory by means of a sufficiently detailed sequence of waypoints. However, if real-time execution of the desired trajectory is required, the Planner must communicate its intentions to the vehicle control system as a stream of essentially continuous commands. If the waypoint spacing is sufficiently small...

Distributed Virtual Environment (DVE) topology management and message propagation schemes have been proposed for many years. Evaluating DVE message propagation schemes requires a variety of assumptions whose verity significantly affects results, such as details about avatar movement characteristics. We implemented two schemes for waypoint and hotspot detection, and examined their applicability ...

The use of an autonomous surface vehicle as an auxiliary agent to improve connectivity in a network of autonomous underwater vehicles is investigated. An algorithm is developed that consists of an optimal waypoint generator and a minimum-time guidance law that is used to steer the vehicle to the waypoint. This algorithm is used together with a communication architecture to improve underwater ve...

Robotic airships have several beneficial properties such as low operation cost, low noise, and low speed flight capability. We present in this paper the design and verification of a feedback control algorithm for waypoint to waypoint navigation of an outdoor blimp. A Rapidly exploring Random Tree (RRT) is used for the validation of the blimp system control law. We describe an implementation of ...

The use of an autonomous surface vehicle as an auxiliary agent to improve connectivity in a network of autonomous underwater vehicles is investigated. An algorithm is developed that consists of an optimal waypoint generator and a minimum-time guidance law that is used to steer the vehicle to the waypoint. This algorithm is used together with a communication architecture to improve underwater ve...

|We describe a team of robots that uses a trail of landmarks to navigate between places of interest. The landmarks are not physical; they are waypoint coordinates generated online by each robot and shared with team-mates over the network. Waypoints are speci ed with reference to features in the world that are relevant to the team's task and common to all robots. Using such task-level features a...

When analyzing dissemination protocols in mobile ad-hoc networks the underlying mobility model is an important factor because it strongly influences the performance of these protocols. So far most of the research only dealt with homogeneous mobility models like the very common Random Waypoint Mobility Model and the Random Walk Mobility Model. In this paper we introduce a new model, the Area Gra...

A Mobile Ad hoc Network (MANET) is a collection of wireless mobile nodes forming a selfconfiguring network without using any existing infrastructure. Since MANETs are not currently deployed on a large scale, research in this area is mostly simulation based. Among other simulation parameters, the mobility model plays a very important role in determining the protocol performance in MANET. Thus, i...