Iain Guilliard

2 accepted papers

2018

ArduSoar: An Open-Source Thermalling Controller for Resource-Constrained Autopilots

Samuel Tabor, Iain Guilliard, Andrey Kolobov

IROS 2018poster

Autonomous soaring capability has the potential to significantly increase time aloft for fixed-wing UAVs. In this paper, we introduce ArduSoar, the first soaring controller integrated into a major autopilot software suite for small UAVs. We describe ArduSoar from the algorithmic standpoint, outline…

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2018

Autonomous Thermalling as a Partially Observable Markov Decision Process

Iain Guilliard, Rick Rogahn, Jim Piavi, Andrey Kolobov

RSS 2018poster

Small uninhabited aerial vehicles (sUAVs) commonly rely on active propulsion to stay airborne, which limits flight time and range. To address this, autonomous soaring seeks to utilize free atmospheric energy in the form of updrafts (thermals). However, their irregular nature at low altitudes makes t…

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