RUcore: Rutgers University Community Repository
Landing of a quadrotor UAV swarm in a nonstationary confined compartment
Descriptive
TitleInfo
Title
Landing of a quadrotor UAV swarm in a nonstationary confined compartment
Name
(type = personal)
NamePart
(type = family)
Schieni
NamePart
(type = given)
Rick
NamePart
(type = date)
1993-
DisplayForm
Rick Schieni
Role
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(authority = RULIB)
author
Name
(type = personal)
NamePart
(type = family)
Shojaei-Zadeh
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(type = given)
Shahab
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Shahab Shojaei-Zadeh
Affiliation
Advisory Committee
Role
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chair
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(type = family)
Drazer
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(type = given)
German
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German Drazer
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Advisory Committee
Role
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(authority = RULIB)
internal member
Name
(type = personal)
NamePart
(type = family)
Diez
NamePart
(type = given)
Francisco Javier
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Francisco Javier Diez
Affiliation
Advisory Committee
Role
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internal member
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NamePart
Rutgers University
Role
RoleTerm
(authority = RULIB)
degree grantor
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NamePart
School of Graduate Studies
Role
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school
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Text
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theses
OriginInfo
DateCreated
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2017
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(type = degree)
2017-10
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2017
Place
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(type = code)
xx
Language
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(type = code)
eng
Abstract
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Unmanned Aerial Vehicles (UAVs) have emerged as an extraordinarily useful technology in both civilian and military applications. Recent efforts have focused on expanding the capabilities of individual UAVs to the application of multiple vehicle swarms to efficiently accomplish otherwise laborious and dangerous tasks. In this work, a trajectory generation method is presented to safely land the individuals of a UAV team on a moving vessel following the performance of a team mission. It is assumed that the landing vessel has a compartment dedicated to vehicle storage which restricts the final landing maneuver to a confined space. Trajectories are generated by solving a constrained optimization problem in a computationally efficient manner by exploiting the properties of Pythagorean Hodograph Bèzier curves. A case study is presented to demonstrate the efficacy of the proposed trajectory generator. The study examines the effectiveness of the method to create successful landing trajectories for the individuals of the UAV swarm. It is shown that the method creates collision-free trajectories for multiple vehicles as they attempt to land in a confined compartment on a moving target.
Subject
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Topic
Mechanical and Aerospace Engineering
RelatedItem
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TitleInfo
Title
Rutgers University Electronic Theses and Dissertations
Identifier
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ETD
Identifier
ETD_8458
PhysicalDescription
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electronic resource
InternetMediaType
application/pdf
InternetMediaType
text/xml
Extent
1 online resource (vii, 86 p. : ill.)
Note
(type = degree)
M.S.
Note
(type = bibliography)
Includes bibliographical references
Subject
(authority = ETD-LCSH)
Topic
Drone aircraft
Note
(type = statement of responsibility)
by Rick Schieni
RelatedItem
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TitleInfo
Title
School of Graduate Studies Electronic Theses and Dissertations
Identifier
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rucore10001600001
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(displayLabel = Rutgers, The State University of New Jersey)
NjNbRU
Identifier
(type = doi)
doi:10.7282/T3RF5Z54
Genre
(authority = ExL-Esploro)
ETD graduate
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Rights
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The author owns the copyright to this work.
RightsHolder
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Name
FamilyName
Schieni
GivenName
Rick
Role
Copyright Holder
RightsEvent
Type
Permission or license
DateTime
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(point = start)
2017-09-29 14:05:25
AssociatedEntity
Name
Rick Schieni
Role
Copyright holder
Affiliation
Rutgers University. School of Graduate Studies
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Type
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Name
Author Agreement License
Detail
I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
RightsEvent
DateTime
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2017-10-31
DateTime
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2018-10-31
Type
Embargo
Detail
Access to this PDF has been restricted at the author's request. It will be publicly available after October 31st, 2018.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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