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dc.contributor.advisorDobrokhodov, Vladimir N.
dc.contributor.authorStalford, Aaron M.
dc.date.accessioned2019-05-15T19:38:18Z
dc.date.available2019-05-15T19:38:18Z
dc.date.issued2019-03
dc.identifier.urihttp://hdl.handle.net/10945/62299
dc.descriptionApproved for public release. distribution is unlimiteden_US
dc.description.abstractThe project addresses the problem of integrating a passive optical sensor onboard an autonomous unmanned aerial vehicle (UAV) and its operation in future missions against various targets/threats. The thesis develops the analytical and experimental software and hardware framework around a commercial-off-the-shelf quadcopter (COTSQ) for autonomous missions. The COTSQ features advanced autopilot capabilities along with an onboard optical sensor that is fully integrated into the control software. This research is applicable to any agent that has similar passive optical sensing capability. The work addresses the following key research questions and concepts: • Prove the sufficiency of the inner-outer loop design of a COTSQ autopilot to perform the autonomous sensing and detection of targets and threats in real time • What is the desired architecture of a high-level guidance controller to enable a single COTSQ and then multiple COTSQs to optimally search and automatically detect targets/threats? • How can the optical feed be used to facilitate detection and tracking of objects based on the real-time video feed from the UAVs? • How can this optical feed be utilized to advance the intelligent autonomy of the UAVs? • What are the fundamental limitations of achievable performance of the following components? o onboard instrumentation to enable robust execution of the search & detection mission and its robust scalability to potentially unlimited number of UAVs.en_US
dc.description.urihttp://archive.org/details/autonomousagents1094562299
dc.publisherMonterey, CA; Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleAUTONOMOUS AGENTS UTILIZING PASSIVE OPTICAL SENSING FOR CONTROLen_US
dc.typeThesisen_US
dc.contributor.secondreaderBingham, Brian S.
dc.contributor.departmentMechanical and Aerospace Engineering (MAE)
dc.subject.authorquadcopteren_US
dc.subject.authordroneen_US
dc.subject.authorcontrolen_US
dc.subject.authorsearchen_US
dc.subject.authorsearch theoryen_US
dc.subject.authoroptical sensingen_US
dc.subject.authorvideo processingen_US
dc.subject.authorpassive sensingen_US
dc.subject.authormulticopteren_US
dc.subject.authorOpenCVen_US
dc.subject.authoropencven_US
dc.subject.authorROSen_US
dc.description.recognitionOutstanding Thesisen_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.identifier.thesisid32409


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