Portrait of Low-Flying Air Vehicles
Head: Sanjiv Singh
Contact: Sanjiv Singh
Associated Lab: Field Robotics Center (FRC)
Homepage
Last Project Publication Year: 2016

Operating an aircraft near the ground is dangerous work. Low-altitude missions include Casualty Extraction, Cargo Resupply, Transport, and Reconnaissance. From manned helicopters to smaller backpackable UAS systems, low-flying vehicles are in constant danger of colliding with the terrain and obstacles such as wires and buildings. Many missions also require landing in unimproved unstructured terrain. Fieldable UAS solutions of the future will require the ability to perceive and understand the environment around them to reliably complete low-altitude tasks.



We leverage perception technology originally developed for ground-based robot vehicles during 20 years of research at the Field Robotics Center. We combine this proven perception and control technology with aircraft-centric engineering and optimization.



We have demonstrated ground-breaking intelligent flying systems on three scales: Micro Air Vehicles (<1.0 meter), Utility UAV (1.0 to 5.0 meter), and Full-Scale Aircraft (>5.0 meters).



See the following two relevant projects: Combat Medic and Transformer.

Displaying 7 Publications
Nonholonomic motion planning in partially unknown environments using vector fields and optimal planners
Guilherme Augusto Silva Pereira, Sanjiban Choudhury and Sebastian Scherer

Conference Paper, Proceedings of Congresso Brasileiro de Automatica (CBA), October, 2016
First Results in Detecting and Avoiding Frontal Obstacles from a Monocular Camera for Micro Unmanned Aerial Vehicles
Tomoyuki Mori and Sebastian Scherer

Conference Paper, Proceedings of International Conference on Robotics and Automation, pp. 1750 – 1757, May, 2013
Autonomous landing at unprepared sites by a full-scale helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Journal Article, Robotics and Autonomous Systems, Vol. 60, No. 12, pp. 1545 – 1562, September, 2012
First Results in Autonomous Landing and Obstacle Avoidance by a Full-Scale Helicopter
Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Conference Paper, Proceedings of ICRA, pp. 951 – 956, May, 2012
Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Tech. Report, CMU-RI-TR-10-08, Robotics Institute, Carnegie Mellon University, June, 2011
Low-Altitude Operation of Unmanned Rotorcraft
Sebastian Scherer

PhD Thesis, Tech. Report, CMU-RI-TR-11-03, Robotics Institute, Carnegie Mellon University, May, 2011
Navigation and Control for Micro Aerial Vehicles in GPS-Denied Environments
Rudolph Molero Fernandez, Sebastian Scherer, Lyle J. Chamberlain and Sanjiv Singh

Tech. Report, CMU-RI-TR-10-08, June, 2010

Past Project People