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Autonomous Helicopter (HELI)
Head: Omead Amidi

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated center: VASC
Associated lab/group: Helicopter Lab

For more information, see this project's homepage.

This page last updated - January 1999.

To develop a vision-guided robot helicopter which can autonomously carry out functions applicable to search and rescue, surveillance, law enforcement, inspection, mapping, and aerial cinematography, in any weather conditions and using only on-board intelligence and computing power.

Name - Title <Email Address>
• [Home] Omead Amidi - Senior Systems Scientist <omead.amidi@cs.cmu.edu>
• [Home] Marcel Bergerman - Systems Scientist <marcel@cmu.edu>
• Todd J Dudek - Helicopter Design and Safety Engineer <tdudek@cs.cmu.edu>
• [Home] Takeo Kanade - U.A. and Helen Whitaker University Prof. <tk@cs.cmu.edu>
• Benjamin Michael Koopman - Lab Assistant <koopdude@gmail.com>
• Greg Krauland - Masters Student, MechE <gk@andrew.cmu.edu>
• [Home] James Ryan Miller - Commercialization Specialist <jmce+@ri.cmu.edu>

• 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