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GRASP Student Seminar Series: Spring 2006
January 18, 5:00 PM, 307 Levine Hall
Jim
Keller
"Optimal Path Planning for Heterogeneous
Aerial Vehicles Conducting Surveillance Missions"
Abstract: The GRASP Lab recently supported
the initial phase of a DARPA project to develop the technology to enable
existing autonomous aerial vehicle platforms to be integrated into a
team to provide surveillance coverage of a specified area. Penn was
responsible for the path planning algorithm the system used to determine
vehicle routes to cover the area within the prescribed requirements.
While similar to the traveling salesman problem, there are unique features
of this problem that have significant impacts on the solution. Specifically,
the method of abstracting system dynamics directly impacts the complexity
and practicality of the resultant solution. Moreover, the specific requirements
for this application impose computational limits that also constrain
the solution. This is a work in progress for which I will present my
current approach and status.
Biography: Jim Keller joined the GRASP Lab
staff in late 2002 as a project engineer. He is also a Ph.D. student
in the Department of Mechanical Engineering and Applied Mechanics. Prior
to coming to Penn, Jim enjoyed a 20-year career in the helicopter industry
with the Boeing Company, where he worked on handling qualities, stability
and control for nearly all of their rotorcraft products. He is currently
working on autonomous path planning for aerial and underwater vehicles.
Full Seminar schedule...
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Last update:10 January, 2006