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Micro Air Vehicle (MAV) Guidance and Navigation

Award Information

Department of Defense
Defense Advanced Research Projects Agency
Award ID:
Program Year/Program:
1998 / STTR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
3721 Macintosh Drive Vint Hill Tech Park Warrenton, VA 20187 0187
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Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 1
Fiscal Year: 1998
Title: Micro Air Vehicle (MAV) Guidance and Navigation
Agency / Branch: DOD / DARPA
Contract: N/A
Award Amount: $99,776.00


Aurora Flight Sciences and Carnegie Mellon University Robotics Institute propose a joint program to develop a generalized MAV navigation and guidance framework applicable to both hovering and fixed wing configurations. The proposed cooperative program seeks to apply image processing methods and devices developed at CMU for a wide range of MAV navigation with special emphasis to the indoor and urban canyon like environments. We will investigate the use of panospheric imaging and novel methods of ranging. Panospheric imaging is the projection of a very wide field of view (360 degs in azimuth and up to 120 degs in elevation) onto a single camera via a curved mirror. Such imaging allows tele-operated navigation without the requirement for any moving parts to view different parts of the surrounding environment. In addition to telepresence, this mode will also provide the ability to track moving objects, guide the MAV toward a target, and attitude control through optical flow processing. Complementary to the panospheric imaging, we also propose to investigate a novel laser ranging device based on Self-Mixing Laser Interferometry (SMiLI) that can be used for odometry, attitude control, obstacle detection and mapping. Apart from fulfilling several needs, both technologies are amenable to the miniaturization required for MAVs.

Principal Investigator:

Ben Motazed

Business Contact:

Ben Motazed
Small Business Information at Submission:

Athena Technologies
9950 Wakeman Drive, Manassas, VA 20110

Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Research Institution Information:
Carnegie Mellon University
5000 Forbes Ave.,
Pittsburgh, PA 15213
Contact: Susan Burkett
RI Type: Nonprofit college or university