Loading Events

« All Events

  • This event has passed.

GRASP Special Seminar: Guilherme A. S. Pereira, Universidade Federal de Minas Gerais, Brazil , “Vector Field Approaches for UAV Navigation”

June 17, 2009 @ 11:00 am - 12:00 pm

Abstract: This talk addresses the computation of vector fields for unmanned
aerial vehicles (UAV) guidance. Two main approaches will be presented.
The first one solves the problem of guiding an UAV by constructing a
polygonal corridor in the robot workspace and computing a two
dimensional, fully continuous vector field inside the corridor. The
corridor may, for example, be defined by a set of waypoints. We present
experimental results with an autonomous airplane that illustrates and
validates the approach. The second approach is more generic and is able
to compute vector fields to guide a configuration to converge and
circulate one dimensional, time varying curves embedded in
n-dimensional spaces. Curves in three-dimensional spaces are easily
defined given a set of waypoints or a specification of the desired
robot behavior. This methodology is being tested with the GRASP


- Learn More

Guilherme A. S. Pereira received the B. Eng. and M.S. degrees in
electrical engineering from the Federal University of Minas Gerais
(UFMG), Brazil, in 1998 and 2000 respectively, and the Doctor degree in
computer science from the same university in 2003. From 11/2000 to
05/2003, he was a visiting student at the GRASP Laboratory of the
University of Pennsylvania. He is now an associate professor at the
Electrical Engineering Department of the Federal University of Minas
Gerais (DEE/UFMG). His research interests include cooperative robotics,
robot navigation, computer vision, and distributed sensing.


June 17, 2009
11:00 am - 12:00 pm
Event Category: