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Publications, Autonomous Helicopter

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• Cascaded Position and Heading Control of a Robotic Helicopter
  M. Bergerman, O. Amidi, J.R. Miller, N.M. Vallidis, and T.J. Dudek
  Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07), October, 2007, pp. 135 - 140. [Abstract]
  Download: pdf [618 KB] copyrighted

• Design and Flight Testing of a High-Bandwidth H-infinity Loop Shaping Controller for a Robotic Helicopter
  M. La Civita, G. Papageorgiou, W. Messner, and T. Kanade
  Journal of Guidance, Control, and Dynamics, Vol. 29, No. 2, March, 2006, pp. 485 - 494.

• Image and Depth Coherent Surface Description
  P. Mishra
  doctoral dissertation, tech. report CMU-RI-TR-05-15, Robotics Institute, Carnegie Mellon University, May, 2005. [Abstract]
  Download: pdf [21390 KB] copyrighted

• Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters
  M. La Civita, G. Papageorgiou, W. Messner, and T. Kanade
  Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Vol. 1, September, 2003, pp. 552 - 557.

• Design and Flight Testing of a Gain-Scheduled H-infinity Loop Shaping Controller for Wide-Envelope Flight of a Robotic Helicopter
  M. La Civita, G. Papageorgiou, W. Messner, and T. Kanade
  Proceedings of the 2003 American Control Conference, June, 2003, pp. 4195 - 4200.

• Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters
  M. La Civita
  doctoral dissertation, Mechanical Engineering, Carnegie Mellon University, January, 2003. [Abstract]

• Design and Flight Testing of a High-Bandwidth H-infinity Loop Shaping Controller for a Robotic Helicopter
  M. La Civita, G. Papageorgiou, W. Messner, and T. Kanade
  Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, August, 2002.

• Modeling of Small-Scale Helicopters with Integrated First-Principles and System-Identification Techniques
  M. La Civita, W. Messner, and T. Kanade
  Proceedings of the 58th Forum of the American Helicopter Society, June, 2002, pp. 2505 - 2516.

• A 3D Color Terrain Modeling System for Small Autonomous Helicopters
  J.R. Miller
  doctoral dissertation, tech. report CMU-RI-TR-02-07, Robotics Institute, Carnegie Mellon University, February, 2002. [Abstract]
  Download: pdf [14857 KB] copyrighted

• System Identification Modeling of a Small-Scale Unmanned Helicopter
  B. Mettler, M.B. Tischler, and T. Kanade
  Journal of the American Helicopter Society, October, 2001. [Abstract]
  Download: pdf [2655 KB] copyrighted

• Autonomous Helicopter Control using Reinforcement Learning Policy Search Methods
  J. Bagnell and J. Schneider
  Proceedings of the International Conference on Robotics and Automation 2001, IEEE, May, 2001. [Abstract]
  Download: pdf [224 KB], ps.gz [104 KB] copyrighted

• Applications of Linear Programming for Linear Systems Trajectory Generation
  M. La Civita and W. Messner
  The 7th Mechatronics Forum International Conference, September, 2000.

• System Identification of a Model-Scale Helicopter
  B. Mettler, M. Tischler, and T. Kanade
  tech. report CMU-RI-TR-00-03, Robotics Institute, Carnegie Mellon University, January, 2000. [Abstract]
  Download: pdf [517 KB] copyrighted

• Attitude Control Optimization for a Small-Scale Unmanned Helicopter
  B. Mettler, M.B. Tischler, and T. Kanade
  AIAA Guidance, Navigation and Control Conference, 2000. [Abstract]
  Download: pdf [203 KB] copyrighted

• A visual odometer for autonomous helicopter flight
  O. Amidi, T. Kanade, and K. Fujita
  Journal of Robotics and Autonomous Systems, Vol. 28, August, 1999, pp. 185 - 193.
  Download: pdf [1163 KB] copyrighted

• Arctic Test Flights of the CMU Autonomous Helicopter
  J.R. Miller, O. Amidi, and M. Delouis
  Proceedings of the Association for Unmanned Vehicle Systems International 1999, 26th Annual Symposium, July, 1999.
  Download: pdf [1796 KB], ps.gz [2720 KB] copyrighted

• System Identification of Small-Size Unmanned Helicopter Dynamics
  B. Mettler, M.B. Tischler, and T. Kanade
  Presented at the American Helicopter Society 55th Forum, May, 1999. [Abstract]
  Download: pdf [854 KB] copyrighted

• Precision 3-D Modeling for Autonomous Helicopter Flight
  J.R. Miller, O. Amidi, C. Thorpe, and T. Kanade
  Proceedings of International Symposium of Robotics Research (ISRR), 1999.

• 3-D Site Mapping with the CMU Autonomous Helicopter
  J.R. Miller and O. Amidi
  Proceedings of the 5th International Conference on Intelligent Autonomous Systems (IAS-5), June, 1998.
  Download: pdf [381 KB], ps.gz [694 KB] copyrighted

• A Visual Odometer for Autonomous Helicopter Fight
  O. Amidi, T. Kanade, and K. Fujita
  Proceedings of the Fifth International Conference on Intelligent Autonomous Systems (IAS-5), June, 1998.

• Autonomous Helicopter Research at Carnegie Mellon Robotics Institute
  O. Amidi, T. Kanade, and J.R. Miller
  Proceedings of Heli Japan `98, April, 1998.

• Vision-Based Autonomous Helicopter Research at Carnegie Mellon Robotics Institute 1991-1997
  O. Amidi, T. Kanade, and J.R. Miller
  American Helicopter Society International Conference, Heli, japan, April, 1998. [Abstract]
  Download: pdf [273 KB] copyrighted

• An Autonomous Vision-Guided Helicopter
  O. Amidi
  doctoral dissertation, Robotics Institute, Carnegie Mellon University, 1996. [Abstract]
  Download: pdf [3329 KB] copyrighted

• Research on an Autonomous Vision Guided Helicopter
  O. Amidi, Y. Mesaki, T. Kanade, and M. Uenohara
  Fifth World Conference on Robotics Research, September, 1994.

• Research on an Autonomous Vision-Guided Helicopter
  O. Amidi, Y. Mesaki, and T. Kanade
  Journal of the American Institute of Aeronautics and Astronautics, 1993. [Abstract]
  Download: pdf [189 KB] copyrighted