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Helicopter Lab
Head: Omead Amidi
Contact: Omead Amidi
Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Location:
NSH B506
(412) 268 8074
Associated center(s) / consortia:
 Vision and Autonomous Systems Center (VASC)
Lab Homepage
Publications
  • Cascaded Position and Heading Control of a Robotic Helicopter

    Marcel Bergerman, Omead Amidi, James Ryan Miller , Nicholas M. Vallidis, and Todd J. Dudek
    Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '07), October, 2007, pp. 135 - 140.
    Details | pdf (619KB) | Copyrighted

  • Design and Flight Testing of a High-Bandwidth H-infinity Loop Shaping Controller for a Robotic Helicopter

    Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade
    Journal of Guidance, Control, and Dynamics, Vol. 29, No. 2, March, 2006, pp. 485 - 494.
    Details

  • Image and Depth Coherent Surface Description

    Pragyana Mishra
    doctoral dissertation, tech. report CMU-RI-TR-05-15, Robotics Institute, Carnegie Mellon University, May, 2005
    Details | pdf (21MB) | Copyrighted

  • Toward Laser Pulse Waveform Analysis for Scene Interpretation

    Nicolas Vandapel, Omead Amidi, and James Ryan Miller
    IEEE International Conference on Robotics and Automation, May, 2004, pp. 950 - 955.
    Details | pdf (387KB) | Copyrighted

  • Real-Time and 3D Vision for Autonomous Small and Micro Air Vehicles

    Takeo Kanade, Omead Amidi, and Qifa Ke
    43rd IEEE Conference on Decision and Control (CDC 2004), December, 2004.
    Details | pdf (1MB) | Copyrighted

  • Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters

    Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade
    Proceedings of the 2003 IEEE International Conference on Robotics and Automation, September, 2003, pp. 552 - 557.
    Details

  • Design and Flight Testing of a Gain-Scheduled H-infinity Loop Shaping Controller for Wide-Envelope Flight of a Robotic Helicopter

    Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade
    Proceedings of the 2003 American Control Conference, June, 2003, pp. 4195 - 4200.
    Details

  • Integrated Modeling and Robust Control for Full-Envelope Flight of Robotic Helicopters

    Marco La Civita
    doctoral dissertation, tech. report , Mechanical Engineering, Carnegie Mellon University, January, 2003
    Details

  • Design and Flight Testing of a High-Bandwidth H-infinity Loop Shaping Controller for a Robotic Helicopter

    Marco La Civita, G. Papageorgiou, William Messner, and Takeo Kanade
    Proceedings of the AIAA Guidance, Navigation, and Control Conference and Exhibit, August, 2002.
    Details

  • Modeling of Small-Scale Helicopters with Integrated First-Principles and System-Identification Techniques

    Marco La Civita, William Messner, and Takeo Kanade
    Proceedings of the 58th Forum of the American Helicopter Society, June, 2002, pp. 2505 - 2516.
    Details

  • A 3D Color Terrain Modeling System for Small Autonomous Helicopters

    James Ryan Miller
    doctoral dissertation, tech. report CMU-RI-TR-02-07, Robotics Institute, Carnegie Mellon University, March, 2002
    Details | pdf (15MB) | Copyrighted

  • Autonomous Helicopter Control using Reinforcement Learning Policy Search Methods

    J. Andrew (Drew) Bagnell and Jeff Schneider
    Proceedings of the International Conference on Robotics and Automation 2001, May, 2001.
    Details | pdf (224KB) | Copyrighted

  • System Identification Modeling of a Small-Scale Unmanned Helicopter

    Bernard Mettler, M. B. Tischler, and Takeo Kanade
    Journal of the American Helicopter Society, , October, 2001,
    Details | pdf (3MB) | Copyrighted

  • Applications of Linear Programming for Linear Systems Trajectory Generation

    Marco La Civita and William Messner
    The 7th Mechatronics Forum International Conference, September, 2000.
    Details

  • System Identification of a Model-Scale Helicopter

    Bernard Mettler, Mark Tischler, and Takeo Kanade
    tech. report CMU-RI-TR-00-03, Robotics Institute, Carnegie Mellon University, January, 2000
    Details | pdf (517KB) | Copyrighted

  • Attitude Control Optimization for a Small-Scale Unmanned Helicopter

    Bernard Mettler, M. B. Tischler, and Takeo Kanade
    AIAA Guidance, Navigation and Control Conference, 2000.
    Details | pdf (203KB) | Copyrighted

  • A visual odometer for autonomous helicopter flight

    Omead Amidi, Takeo Kanade, and Keisuke Fujita
    Journal of Robotics and Autonomous Systems, Vol. 28, August, 1999, pp. 185 - 193.
    Details | pdf (1MB) | Copyrighted

  • Arctic Test Flights of the CMU Autonomous Helicopter

    James Ryan Miller , Omead Amidi, and Mark Delouis
    Proceedings of the Association for Unmanned Vehicle Systems International 1999, 26th Annual Symposium, July, 1999.
    Details | pdf (2MB) | Copyrighted

  • System Identification of Small-Size Unmanned Helicopter Dynamics

    Bernard Mettler, Mark B. Tischler, and Takeo Kanade
    Presented at the American Helicopter Society 55th Forum, May, 1999.
    Details | pdf (855KB) | Copyrighted

  • Precision 3-D Modeling for Autonomous Helicopter Flight

    James Ryan Miller , Omead Amidi, Chuck Thorpe, and Takeo Kanade
    Proceedings of International Symposium of Robotics Research (ISRR), 1999.
    Details

  • A Visual Odometer for Autonomous Helicopter Fight

    Omead Amidi, Takeo Kanade, and K. Fujita
    Proceedings of the Fifth International Conference on Intelligent Autonomous Systems (IAS-5), June, 1998.
    Details

  • 3-D Site Mapping with the CMU Autonomous Helicopter

    James Ryan Miller and Omead Amidi
    Proceedings of the 5th International Conference on Intelligent Autonomous Systems (IAS-5), June, 1998.
    Details | pdf (381KB) | Copyrighted

  • Vision-Based Autonomous Helicopter Research at Carnegie Mellon Robotics Institute 1991-1997

    Omead Amidi, Takeo Kanade, and James Ryan Miller
    American Helicopter Society International Conference, April, 1998.
    Details | pdf (274KB) | Copyrighted

  • Autonomous Helicopter Research at Carnegie Mellon Robotics Institute

    Omead Amidi, Takeo Kanade, and James Ryan Miller
    Proceedings of Heli Japan `98, April, 1998.
    Details

  • An Autonomous Vision-Guided Helicopter

    Omead Amidi
    doctoral dissertation, tech. report , Robotics Institute, Carnegie Mellon University, 1996
    Details | pdf (3MB) | Copyrighted

  • Research on an Autonomous Vision Guided Helicopter

    Omead Amidi, Y. Mesaki, Takeo Kanade, and Michihiro Uenohara
    Fifth World Conference on Robotics Research, September, 1994.
    Details

  • Research on an Autonomous Vision-Guided Helicopter

    Omead Amidi, Yuji Mesaki, and Takeo Kanade
    Journal of the American Institute of Aeronautics and Astronautics, , 1993
    Details | pdf (189KB) | Copyrighted