S. Karaman

Publications (2)0 Total impact

• Source

  Available from: mit.edu

  Conference Proceeding: Aricopter : Aerobotic Platform for Advances in Flight, Vision Controls and Distributed Autonomy

  S. Karaman, M. Aksugur, T. Baltaci, M. Bronz, C. Kurtulus, G. Inalhan, E. Altug, L. Guvenc
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  ABSTRACT: Aricopter is a COTS micro-helicopter heavily modified for research on embedded flight and vision controls, and distributed autonomy. In this work, we present an overview of the exciting development process of the flight hardware, the micro-avionics system, and the off-board vision implementations.
  Intelligent Vehicles Symposium, 2007 IEEE; 07/2007
• Source

  Available from: mit.edu

  Conference Proceeding: Development of a Cross-Compatible Micro-Avionics System for Aerorobotics

  T. Mutlu, S. Karaman, S. Comak, I. Bayezit, G. Inalhan, L. Guvenc
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  ABSTRACT: In this work, we present a micro-avionics system structured around the controller area network (CAN) bus data backbone. The system is designed to be cross-compatible across our experimental mini-helicopters and ground vehicles, and it is tailored to allow autonomous navigation and control for a variety of different research test cases. The expandable architecture deploys a hybrid selection of COTS Motorola (MPC555) and Arm processor boards (LPC2294), each with different operating systems and coding techniques (such as rapid algorithmic prototyping using automatic code generation via Matlab/Real Time Workshop Embedded Target). The micro-avionics system employs a complete sensor suite that provides real-time position, orientation and associated time-rate information. As a part of the on-going fleet autonomy experiments, we present the design of a novel wireless SmartCan node. This wireless node allows seamless CAN Bus access of low-level sensor and operational data of other vehicles within close proximity.
  Intelligent Vehicles Symposium, 2007 IEEE; 07/2007