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- W2313223856 endingPage "025011" @default.
- W2313223856 startingPage "025011" @default.
- W2313223856 abstract "Safe, autonomous navigation by aerial microsystems in less-structured environments is a difficult challenge to overcome with current technology. This paper presents a novel visual-navigation approach that combines bioinspired wide-field processing of optic flow information with control-theoretic tools for synthesis of closed loop systems, resulting in robustness and performance guarantees. Structured singular value analysis is used to synthesize a dynamic controller that provides good tracking performance in uncertain environments without resorting to explicit pose estimation or extraction of a detailed environmental depth map. Experimental results with a quadrotor demonstrate the vehicle's robust obstacle-avoidance behaviour in a straight line corridor, an S-shaped corridor and a corridor with obstacles distributed in the vehicle's path. The computational efficiency and simplicity of the current approach offers a promising alternative to satisfying the payload, power and bandwidth constraints imposed by aerial microsystems." @default.
- W2313223856 created "2016-06-24" @default.
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- W2313223856 date "2014-05-22" @default.
- W2313223856 modified "2023-09-27" @default.
- W2313223856 title "A<i>μ</i>analysis-based, controller-synthesis framework for robust bioinspired visual navigation in less-structured environments" @default.
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- W2313223856 doi "https://doi.org/10.1088/1748-3182/9/2/025011" @default.
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- W2313223856 hasPublicationYear "2014" @default.
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