BYU Home page BRIGHAM YOUNG UNIVERSITY  
Search BYU 
Feedback  Admin  
BYU Home Engineering/Technology MAGICC Lab Publications

Main Menu

Home
General Information
Publications
Conferences
Contests and Awards
    AUVSI Results
    MAV 2006 Competition
    Fast Breaking Paper
Personnel
    Research Profiles
Movies
Photos
    Timp Hike
Schedule
News Releases
Research
    Autopilot Design
    Path Planning
    Cooperative Control
    Image-Directed Control
    Commercialization
    AUVSI
    Geo-referenced Mosaics

Other Links

Documentation Wiki
Publications
Research in the MAGICC fields has been the source of a great number of graduate theses, journal articles, and other publications. Use the jump links to the left to navigate to the various types of publications contained in this archive.
  1. Joshua Hintze "Autonomous Landing of a Rotary Unmanned Aerial Vehicle in a Non-Cooperative Environment Using Machine Vision," Masters Thesis, Brigham Young University, April 2004, PDF
  2. Derek Kingston "Implementation Issues of Real-Time Trajectory Generation on Small UAVs," Masters Thesis, Brigham Young University, April 2004, PDF, postscript .
  3. Jason Howlett "Path Planning for Sensing Multiple Targets from an Aircraft," Masters Thesis, Brigham Young University, December 2002, PDF
  4. Erik Anderson, "Extremal Control and Unmanned Air Vehicle Trajectory Generation," Masters Thesis, Brigham Young University, April 2002, PDF.
  5. Jason Vest "The Effects of Communication and Sensor Latency on the Formation Control of Multiple Vehicles," Masters Thesis, Brigham Young University, April 2002, PDF, postscript.
  6. Jed Kelsey, "The MAGICC Mobile Robot Toolbox (MMRT): A Simulink-based Control and Coordination Toolbox for Multiple Robotic Agents," Masters Thesis, Brigham Young University, December 2001, postscript.
  7. Kevin Judd, "Trajectory Planning Strategies for Unmanned Air Vehicles," Masters Thesis, Brigham Young University, August 2001, postscript.
  8. Jonathan Lawton, "A Behavior-Based Approach to Multiple Spacecraft Formation Flying," PhD Thesis, Brigham Young University, December 2000, postscript.
  9. Brett Young, "Mobile Robots: Coordination and Control," Masters Thesis, Brigham Young University, December 2000, postscript.
  10. Chad Humberstone, "Object Transport Using Multiple Nonholonomic Mobile Robots with Pin Joint Endeffectors," Masters Thesis, Brigham Young University, April 2000, PDF.
  11. Chris Bailey "Fuel Saving Schemes for Separated Spacecraft Flying in Formation," Masters Thesis, Brigham Young University, December 1999, postscript.
  12. Tim Gold "A Praxeic Utility Approach to Multi-Agent Coordination," Masters Thesis, Brigham Young University, December 1999, postscript.
  1. Jonathan Lawton, Randal W. Beard, "Synchronized Multiple Spacecraft Rotations," Automatica, (to appear) Postscript Preprint.
  2. Christopher A. Bailey, Timothy W. McLain, Randal W. Beard, "Fuel Saving Strategies for Dual Spacecraft Interferometry Missions,"  Journal of the Astronatical Sciences, (to appear), Postscript Preprint.
  3. Jonathan Lawton, Randal Beard, Brett Young, "A Decentralized Approach To Formation Maneuvers," IEEE Transactions on Robotics and Automation, (to appear), PostscriptPreprint.
  4. Randal W. Beard, Jonathan Lawton, Fred Y. Hadaegh, "A Coordination Architecture for Spacecraft Formation Control," IEEE Transactions on Control Systems Technology, Vol 9, No 6, November 2001, p. 777-790, Postscript Preprint.
  5. Chad K. Humberstone, Kevin B. Smith, "Object Transport Using Multiple Mobile Robots with Non-compliant Endeffectors," Distributed Autonomous Robotics Systems 4 (DARS 5th: Knoxville, Tenn), Springer Verlag Tokyo, Oct 4-6, 2000, pp. 417-426. PDF.
  6. Randal W. Beard, Fred Y. Hadaegh, "Fuel Optimization for Unconstrained Rotation of Spacecraft Formations," Journal of the Astronautical Sciences, vol. 43, no. 3, July-December, 1999, pp. 259-273. PostscriptPreprint.
  7. Randal W. Beard, Timothy W. McLain, Fred Y. Hadaegh, "Fuel Optimization for Constrained Rotation of Spacecraft Formations," AIAA Journal of Guidance, Control, and Dynamics, vol. 23, no. 2, March-April, 2000, pp. 339-346. PostscriptPreprint.
Conference Publications
  1. Rodriguez, A., Taylor, C. "Wind Estimation Using an Optical Flow Sensor on a Miniature Air Vehicle," AIAA Guidance, Navigation and Control. Hilton Head, SC, August 2007. Email andres.rodriguez[at]byu.edu for PDF.
  2. Kunzler, W., Newman, J., Wilding, D., Selfridge, R., Schultz, S., Wirthlin, M., Rodriguez, A. "Miniature UAV Telemetry Using a Portable Integrated FOS System," SPIE Smart Structures. San Diego, CA, March 2007. Email andres.rodriguez[at]byu.edu for PDF.
  3. Rodriguez, A., Ready, B., Taylor, C. "Using Telemetry Data for Video Compression on Unmanned Air Vehicles," AIAA Guidance, Navigation and Control, Keystone CO, 2006. Email andres.rodriguez[at]byu.edu for PDF.
  4. Brandon Call, Randal W. Beard, Clark Taylor, Blake Barber "Obstacle Avoidance for Unmanned Air Vehicles Using Image Feature Tracking," AIAA Conference on Guidance, Navigation and Control, Keystone CO, 2006. (to appear). pdf
  5. Wei Ren, Randal W. Beard, "Virtual Structure based Spacecraft Formation Control with Formation Feedback," AIAA Guidance and Control Conference, to appear, PDF .
  6. Sai-Ming Li and Jovan D. Boskovic and Sanjeev Seereeram and Ravi Prasanth and Jayesh Amin and Raman K. Mehra and Randal Beard, "Autonomous Hierarchical Control of Multiple Unmanned Combat Air Vehicles (UCAVs)," American Control Conference, Anchorage, Alaska, May, 2002, to appear, postscript.
  7. Randal W. Beard, Timothy W. McLain, Michael Goodrich, Erik P. Anderson, "Coordinated Target Assignment and Intercept for Unmanned Air Vehicles," IEEE International Conference on Robotics and Automation, Washington DC, May, 2002, to appear, Postscript Preprint.
  8. Jonathan Lawton, Randal W. Beard, "Model Independent Eigenaxis Maneuvers using Quaternion Feedback," American Control Conference, Arlington, VA, June 25-27, 2001, pp. 2339-2344. Postscript Preprint, PDF Reprint.
  9. Brett J. Young, Randal W. Beard, Jed M. Kelsey "A Control Scheme for Improving Multi-Vehicle Formation Maneuvers," American Control Conference, Arlington, VA, June 25-27, 2001, pp. 704-709. Postscript Preprint, PDF Reprint.
  10. Jonathan Lawton, Randal Beard, "Elementary Attitude Formation Maneuvers via Behavior-Based Control," AIAA Guidance, Navigation and Control Conference, Denver, CO, Paper no. AIAA-2000-4442:AAO-37144, August 2000. Postscript Preprint.
  11. Chris Bailey, Timothy McLain, Randal Beard, "Fuel Saving Strategies for Separated Spacecraft Interferometry," AIAA Guidance, Navigation, and Control Conference, Denver, CO, Paper no. AIAA-2000-4441:AA0-37143, August 2000. Postscript Preprint.
  12. Timothy McLain, Randal Beard, "Cooperative Rendezvous of Multiple Unmanned Air Vehicles," AIAA Guidance, Navigation and Control Conference, Denver, CO, Paper no. AIAA-2000-4369:AAO-37126, August 2000. Postscript Preprint.
  13. Randal W. Beard, Jonathan Lawton, Fred Y. Hadaegh, "A Feedback Architecture for Formation Control," American Control Conference, Chicago, Illinois, June, 2000, pp. 4087--4091. Postscript Preprint.
  14. Tim Gold, James Archibald, Richard Frost, "A Utility Approach To Multi-Agent Coordination," IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000. Postscript Preprint.
  15. Brett Young, Jonathan Lawton, Randal Beard, "Two Hybrid Control Schemes for Nonholonomic Robots," IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000. Postscript Preprint.
  16. Jonathan Lawton, Brett Young, Randal Beard, "A Decentralized Approach To Elementary Formation Maneuvers," IEEE International Conference on Robotics and Automation, San Fransico, CA, April, 2000. Postscript Preprint.
  17.  Jonathan Lawton, Randal Beard, "A Projection Approach to Spacecraft Formation Attitude Control,"  23rd Annual AAS Guidance and Control Conference, AAS 00-011, Breckenridge, Colorado, February, 2000.
  18. S. Seereeram, E. Li, B. Ravichandran, R. Mehra, R. Smith, R. Beard, "Multispacecraft Formation Initialization using Genetic Algorithm Techniques,"  23rd Annual AAS Guidance and Control Conference, AAS 00-033, Breckenridge, Colorado, February, 2000.
  19. Jonathan Lawton, Randal W. Beard, Fred Y. Hadaegh, "An Adaptive Control Approach to Satellite Formation Flying with Relative Distance Constraints," American Control Conference, San Diego, CA, June, 1999, pp. 1545-1549. Postscript Preprint.
  20. Randal W. Beard, Fred Y. Hadaegh "Finite Thrust Control for Satellite Formation Flying with State Constraints," American Control Conference, San Diego, CA, June, 1999, pp. 4383-4387. Postscript Preprint.
  21. Randal W. Beard, Fred Y. Hadaegh "Fuel Optimized Rotation for Satellite Formations in Free Space," American Control Conference, San Diego, CA, June, 1999, pp. 2975-2979. Postscript Preprint.
  22. Randal Beard, Wynn Stirling, and Rick Frost, "A Hierarchical Coordination Scheme for Satellite Formation Initialization," AIAA Guidance, Navigation and Control Conference, Boston, MA., August, 1998 AIAA paper #98-4225, pp. 677-685. Postscript Preprint.
  23. Randal W. Beard, Timothy W. McLain, Fred Y. Hadaegh, "Fuel Equalized Retargeting for Separated Spacecraft Interferometry," American Control Conference, Philadelphia, PA, June, 1998, pp. 1580-1584. Postscript Preprint.
  24. Randal W. Beard, Fred Y. Hadaegh, "Constellation Templates: An Approach to Autonomous Formation Flying," World Automation Congress, Anchorage, Alaska, 1998, ISIAC pp. 177.1-177.6. Postscript Preprint.
Technical Reports
  1. Randal Beard, "Architecture and Algorithms for Constellation Control," Technical Report, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Dr., Pasadena, CA 91109, March, 1998. PDF.
  2. Brett J. Young, Randal W. Beard, Jonathan R. Lawton "Hybrid Control Schemes for Hilare-type Mobile Robot Regulation," MAGICC Lab Technical Report, 2001, Postscript Preprint.
  3. Jonathan Lawton, Randal W. Beard, "Model Independent Approximate Eigenaxis Rotations via Quaternion Feedback," MAGICC Lab Technical Report, 2001, Postscript Preprint.
  4. Brett J. Young, Randal W. Beard, Jed Kelsey "Coordinated Control of Multiple Robots using Formation Feedback," MAGICC Lab Technical Report, 2001 Postscript Preprint.
  5. Randal W. Beard, Timothy W. McLain, Michael Goodrich, Erik P. Anderson, "Coordinated Target Assignment and Intercept for Unmanned Air Vehicles," MAGICC Lab Technical Report, 2001 Postscript .
  6. Timothy W. McLain, Randal W. Beard, Jed M. Kelsey, "Experimental Demonstration of Multiple Robot Cooperative Target Intercept," MAGICC Lab Technical Report, 2001 PDF .
  7. Erik P. Anderson, Randal W. Beard, "An Algorithmic Implementation of Constrained Extremal Control for UAVs," MAGICC Lab Technical Report, 2002 PDF .
  8. Wei Ren, Randal W. Beard, J. Willard Curtis "Satisficing Control for Multi-agent Formation Maneuvers," MAGICC Lab Technical Report 2002, Postscript .
  9. James Archibald, Tim Gold, Richard Frost, "Multi-Agent Coordination Using Praxeic Utility," MAGICC Lab Technical Report 2002, Postscript .
Presentations
  1. Samual Smith, "Scalable Component Based Autonomous Control Architecture," Presented to the MAGICC Lab, February 2002, Powerpoint Presentation.
  2. Randy Beard, Tim McLain, "February 2002 AFOSR Briefing on Cooperative Control Research," February 2002, Powerpoint Presentation.
  3. Tim McLain, Randy Beard, "AFOSR Briefing on Cooperative Control Research," Presented at AFOSR contractors meeting, August, 2001, Powerpoint Presentation.
Library
The objective of the "library" is to maintain a collection of research articles that are relevant to the research objectives of the MAGICC lab. The articles are collected in three categories:
  1. Required reading. These articles are the first place to start to come up to speed in the research conducted in the MAGICC lab and to enable you to participate in that research.
  2. Research articles. These articles are papers that are related to the research conducted in the MAGICC lab. Students in our lab are requested to be continually reading the literature. Here is a collection of papers that we have read, and which shed light on coordinated control. "refs.bib" provides BibTeX entries for each article and can be accessed for searching purposes.
  3. Possible presentation material. These articles could be selected for presentation during the weekly MAGICC lab meeting. "reading.bib" provides preliminary BibTeX entries for each article and can be accessed for searching purposes.
Related Sites

© Copyright 2006 Brigham Young University MAGICC Lab