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Commenced in January 2007 Frequency: Monthly Edition: International Publications Count: 29858

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CQAR: Closed Quarter Aerial Robot Design for Reconnaissance, Surveillance and Target Acquisition Tasks in Urban Areas
This paper describes a prototype aircraft that can fly slowly, safely and transmit wireless video for tasks like reconnaissance, surveillance and target acquisition. The aircraft is designed to fly in closed quarters like forests, buildings, caves and tunnels which are often spacious but GPS reception is poor. Envisioned is that a small, safe and slow flying vehicle can assist in performing dull, dangerous and dirty tasks like disaster mitigation, search-and-rescue and structural damage assessment.
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[1] Anderson, J.D. (1999), Aircraft Performance and Design, McGraw-Hill.
[2] Barrows, G., Neely, C. (2000). "Mixed-mode VLSI Optic Flow Sensors for In-flight Control of a Micro Air Vehicle", Proc. SPIE, 4109 pp. 52-63.
[3] Blitch, J. (2002). "World Trade Center Search-and-Rescue Robots", Plenary Session IEEE Int Conf Robotics and Automation, Washington D.C.
[4] Choi, H., Sturdza, P., Murray, R.M. (1994). "Design and Construction of a Small Ducted Fan Engine for Nonlinear Control Experiments", Proc. American Control Conf., Baltimore MD, pp. 2618-2622.
[5] Ettinger, S.M., Nechyba, M.C., Ifju, P.G., Waszak, M. (2002). "Vision- Guided Flight Stability and Control for Micro Air Vehicles", IEEE/RSJ Int Conf on Robots and Systems, Lausanne, Switzerland, pp. 2134-2140.
[6] Fearing, R., et al (2000). "Wing Transmission for a Micromechanical Flying Insect", IEEE Int Conf Robotics and Automation, San Francisco pp. 1509-1516.
[7] Flynn, A.M. (1988). "Combining Sonar and Infrared Sensors For Mobile Robot Navigation", Int. Journal of Robotics Research, pp. 5-14.
[8] Grasmeyer, J.M., Keennon, M.T. (2001). "Development of the Black Widow Micro Air Vehicle", 39th AIAA Aerospace Sciences Meeting and Exhibit, Reno, NV.
[9] Green, W.E., Oh, P.Y., Barrows, G. (2004). "Flying Insect Inspired Vision for Autonomous Aerial Robot Maneuvers in Near-Earth Environments," IEEE Int Conf on Robotics and Automation (ICRA), New Orleans, V1, pp. 2347-2352.
[10] Kellog, J., et al (2001). "The NRL MITE Air Vehicle", 16th Bristol International Conference on Unmanned Air Vehicle Systems, Bristol, UK.
[11] Kodiyalam, S., Sobieszczanski-Sobieski, J., "Multidisciplinary Design Optimization - Some Formal Methods, Framework Requirements, and Application to Vehicle Design", Int. Journal of Vehicle Design (Special Issue), pp. 3-22.
[12] Hamel, T.; Mahony, R., Chriette, A. (2002). "Visual Servo Trajectory Tracking for a Four Rotor VTOL Aerial Vehicle", IEEE International Conference on Robotics and Automation (ICRA), Washington, D.C., pp. 2781-2786.
[13] Nicoud, J.D., Zufferey, J.C. (2002). "Toward Indoor Flying Robots", IEEE/RSJ Int Conf on Robots and Systems, Lausanne, pp. 787-792.
[14] Oh, P.Y., Green, W.E. (2003). "Closed Quarter Aerial Robot Prototype to Fly In and Around Buildings", Int. Conference on Computer, Communication and Control Technologies, Vol. 5, pp. 302-307, Orlando, FL.
[15] Oh, P.Y., Green, W.E. (2003) "A Kite and Teleoperated Vision System for Acquiring Aerial Images", IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, pp. 1404-1409.
[16] Pipitone, F., Kamgar-Parsi, B., Hartley, R. (2001). "Three Dimensional Computer Vision for Micro Air Vehicles", Proc. SPIE 15th Aerosense Symposium, Conf. 4363, Enhanced and Synthetic Vision 2001, Orlando Florida.
[17] Sharp, C.S., Shakernia, O., Sastry, S.S. (2001). "A Vision System For Landing an Unmanned Aerial Vehicle IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, pp. 1720-1727.
[18] Srinivasan, M.V., Chahl, J.S., Weber, K., Venkatesh, S., Nagle, M.G., Zhang, S.W. (1998). Robot Navigation Inspired By Principles of Insect Vision in Field and Service Robotics, A. Zelinsky (ed), Springer Verlag Berlin, NY 12-16.
[19] Stone, H., Wong, K.C. (1997). "Preliminary Design of a Tandem-Wing Tail-Sitter UAV Using Multi-Disciplinary Design Optimization", Int. Aerospace Congress, Sydney, Australia pp. 707-720.
[20] Saripalli, S., Montgomery, J.F., Sukhatme, G.S. (2002). "Vision-based Autonomous Landing of an Unmanned Aerial Vehicle", IEEE International Conference on Robotics and Automation (ICRA), Washington, D.C., pp. 2799-2804.
[21] Zhang, H., Ostrowski, J.P. (1999). "Visual Servoing With Dynamics: Control of an Unmanned Blimp", IEEE International Conference on Robotics and Automation (ICRA), Detroit, pp. 618-623.
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