Selective submap joining SLAM for autonomous vehicles

Simultaneous Localization and Mapping (SLAM) do not result in consistent maps of large areas because of gradual increase of the uncertainty for long term missions. In addition, as the size of the map grows the computational cost increases, making SLAM solutions unsuitable for on-line applications. This thesis surveys SLAM approaches paying special attention to those approaches aimed to work on large scenarios. Special focus is given to existing underwater SLAM applications. A technique based on using independent local maps together with a global stochastic map is presented. This technique is called Selective Submap Joining SLAM (SSJS). A global map contains relative transformations between local maps, which are updated once a new loop is detected. Maps sharing several features are fused, maintaining the correlation between landmarks and vehicle's pose. The use of local maps reduces computational costs and improves map consistency as compared to state of the art techniques.

A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on "Best Automatic Performance - IMAV 2012" and the second overall prize in the participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.

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National Highway Traffic Safety Administration, Washington, D.C.

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Includes index.

Direct support and general support maintenance repair parts and special tools lists : pneumatic tires, electric motor, AC, 10 HP, 416V 3 phase, 60 cycle, 50 ft long, conveyor, belt, 300 tons per hr, wheel mounted, 24 in. wide belt, NSN 3910-00-790-2175, Barber-Green model PG 70.

Includes index.

Direct support and general support maintenance repair parts and special tools list (including depot maintenance repair parts and special tools) for launcher and M60A1 tank chassis, transporting : for bridge, armored-vehicle-launched, scissoring type, class 60 5420-00-889-2020.

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Direct support and general support maintenance repair parts and special tools lists (including depot maintenance repair parts and special tools lists) for launcher and M48A5 tank chassis, transporting, for bridge, armored-vehicle-launched, scissoring type, class 60, 5420-01-076-6096.

Includes index.