Christine Cameron’s scientific contributions

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Publications (2)


TALOS: An Unmanned Cargo-Delivery System for Rotorcraft Landing to Unprepared Sites
  • Conference Paper

May 2015

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2 Reads

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1 Citation

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John Wissler

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Graham Drozeski

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[...]

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Desare'a Chessar

The growing interest of rotary wing UAVs, for military and civilian applications, has encouraged designers to consider miniaturized configurations, more efficient in terms of endurance, payload capability and maneuverability. The purpose of this paper is to study a new configuration of coaxial rotor as applied to a micro aerial vehicle (MAV) with the intention to guarantee the vehicle maneuverability while removing unnecessary control surfaces which would increase wind gust sensitivity. Coaxial rotor configurations maximize the available rotor disk surface and allow for torque cancelation. Tilting rotors may allow for the vehicle control.


Figure 1 TALOS architecture, showing major components and open interfaces. HSIs exist at the Combat Out Post (COP) and the Main Operating Base (MOB), planning includes the Mission Manager, Route Planner, and Trajectory Planner, and Perception includes both sensor hardware integration, sensor fusion, and perceptive processing. Vehicle Dynamics Lookup encapsulates vehicle-specific data. Typical UAS elements are also shown; the sum total of the modules in this diagram is called the AACUS- Enabled System (AES).  
Figure 2 AACUS mission. The Main Operating Base is in on the horizon, and the Landing Zone contains various obstacles and terrain characteristics that must be evaluated during a high-speed tactical approach.  
Figure 4 TALOS framework for mission and route planning contains goal points, waypoints, a Safe Air Volume (SAV, green area), and any number of preplanned and/or pop-up No-Fly Zones (NFZs, red areas). Goal points are cyan circles, waypoints are cyan dots.  
Figure 5 Obstacle avoidance scenario. During a test flight on the ULB, the Trajectory Planner successfully planned a trajectory around an obstacle detected by the Perception System. Inset shows the real-time Perception system output and planned trajectory. The ULB received and tracked this maneuver in real time, avoiding the peak.  
Figure 6 End-game scenario. In the case shown, the user-selected touchdown zone (red) is invalid (too rough or sloped, or too close to an obstacle), so the Perception system selects two other locations (green and blue). The FO chooses the blue alternate, and the trajectory deviates from the red dashed to the green trajectory.  

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TALOS: An unmanned cargo delivery system for rotorcraft landing to unprepared sites
  • Article
  • Full-text available

January 2015

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2,088 Reads

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12 Citations

This paper describes the Tactical Autonomous Aerial LOgistics System (TALOS), developed and flight tested during the first phase of the Office of Naval Research (ONR) Autonomous Aerial Cargo/Utility System (AACUS) Innovative Naval Prototype (INP) program. The ONR vision for AACUS is to create a retrofit perception/planning/human interface system that enables autonomous take-off, flight, and landing of a full-scale rotary-wing aircraft to and from austere, possibly-hostile landing zones, in a tactical manner, with minimal human supervision. The goal of the AACUS system is to enable any Marine to supervise this capability from an intuitive field interface (e.g. a smart phone, tablet, or military radio/interface). A key feature of the TALOS team's realization of the AACUS goal is its portability to any rotorcraft of sufficient payload capacity. It uses mostly-COTS hardware and next-generation autonomy software, and employs modular, open interfaces, so that (1) new software and hardware components can be integrated relatively easily and (2) perception, planning, and human interface capabilities are "transition-able" to other applications and aircraft. This paper gives an overview of the system architecture, the interaction between the TALOS components, and the demonstration results.

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Citations (2)


... The Office of Naval Research (ONR) Autonomous Aerial Cargo/Utility System (AACUS) program also addressed autonomous obstacle avoidance and landing at unprepared sites [15]. An emphasis of this program was portability, so their autonomy system was tested on a variety of partial-authority aircraft including the Boeing AH-6 Unmanned Little Bird, Bell 206 variants, and Aurora's Bell UH-1. ...

Reference:

Autonomous Guidance and Flight Control on a Partial-Authority Black Hawk Helicopter
TALOS: An Unmanned Cargo-Delivery System for Rotorcraft Landing to Unprepared Sites
  • Citing Conference Paper
  • May 2015

... Shortly thereafter, another example of reactive autonomy was first flown on the full-authority Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) JUH-60A Fly-by-Wire (FBW) Black Hawk helicopter in mountainous terrain [11,12]. The Office of Naval Research (ONR) Autonomous Aerial Cargo/Utility System (AACUS) program also addressed autonomous obstacle avoidance and landing at unprepared sites [13]. An emphasis of this program was portability, so the autonomy system was tested on a variety of partial-authority aircraft including the Boeing AH-6 Unmanned Little Bird (ULB), Bell 206 variants, and Aurora's Bell UH-1. ...

TALOS: An unmanned cargo delivery system for rotorcraft landing to unprepared sites