A helicopter named Dolly: Behavioural cloning for autonomous helicopter control

This paper considers the pros and cons of using behavioural cloning for the development of low-level helicopter automation modules. Over the course of this project several Behavioural cloning approaches have been investigated. The results of the most effective Behavioural cloning approach are then compared to PID modules designed for the same aircraft. The comparison takes into consideration development time, reliability, and control performance. It has been found that Behavioural cloning techniques employing local approximators and a wide state-space coverage during training can produce stabilising control modules in less time than tuning PID controllers. However, performance and reliabity deficits have been found to exist with the Behavioural Cloning, attributable largely to the time variant nature of the dynamics due to the operating environment, and the pilot actions being poor for teaching. The final conclusion drawn here is that tuning PID modules remains superior to behavioural cloning for low-level helicopter automation.

Helicopter automation using a low-cost sensing system

This paper details the design of an autonomous helicopter control system using a low cost sensor suite. Control is maintained using simple nested PID loops. Aircraft attitude, velocity, and height is estimated using an in-house designed IMU and vision system. Information is combined using complimentary filtering. The aircraft is shown to be stabilised and responding to high level demands on all axes, including heading, height, lateral velocity and longitudinal velocity.

Proceedings of the 2004 Australian Software Engineering Conference

Established in 1986, ASWEC is the premier technical meeting for the Australian Software Engineering Community, and attracts a significant number of international participants. The conference is sponsored by both Engineers Australia and the Australian Computer Society. The major goal of the conference is to provide a forum for exchanging experience and new research results in software engineering. The technical program for ASWEC 2004 includes research papers from Australia and across the world. This year we received 79 submissions from 12 countries: 56 from Australia, 6 from New Zealand, 9 from Asia, 4 from Europe, and 4 from North America. All papers were fully refereed by three (two papers by only two) Program Committee members. We accepted 36 papers to be presented at the conference. We are grateful to all authors who contributed to ASWEC 2004. In addition to the technical papers, the conference program also includes two keynote speakers and one panel on Software Engineering accreditation. We are very pleased about being able to attract Philippe Kruchten, University of British Columbia, and Ian Hayes, The University of Queensland, as the keynote speakers for this conference.

Proceedings of the 2005 Australian Software Engineering Conference

Established in 1986, ASWEC is the premier technical meeting for the Australian software engineering community, and attracts a significant number of international participants. The major goal of the conference is to provide a forum for exchanging experience and new research results in software engineering. To increase the industry participation at ASWEC, we organized two separate paper tracks, which we have called Research Papers and Industry Experience Reports. These paper tracks had separate deadlines, separate program committees, separate review procedures, and separate proceedings. The Research Papers appear in these proceedings and the Industry Experience Reports will appear on a CD-Rom that will be distributed at the conference. The Research Papers track for ASWEC 2005 includes submissions from Australia and across the world. This year we received 79 submissions from 13 countries: 48 from Australia, 7 from New Zealand, 11 from Asia, 9 from Europe, and 2 each from North and South America. All papers were fully refereed by three Program Committee members. We accepted 34 papers to be presented at the conference. We are grateful to all authors who contributed to ASWEC.

Proceedings Ninth Asia-Pacific Software Engineering Conference. ASPEC 2002

The following topics are dealt with: Requirements engineering; components; design; formal specification analysis; education; model checking; human computer interaction; software design and architecture; formal methods and components; software maintenance; software process; formal methods and design; server-based applications; review and testing; measurement; documentation; management and knowledge-based approaches.