UAV Survivability Enhancement via Agile Maneuvering in Dynamic Environments

Award Information
Agency: Department of Defense
Branch: Defense Advanced Research Projects Agency
Contract: W31P4Q-05-C-R121
Agency Tracking Number: 04SB3-0304
Amount: $98,936.00
Phase: Phase I
Program: SBIR
Awards Year: 2005
Solitcitation Year: 2004
Solitcitation Topic Code: SB043-048
Solitcitation Number: 2004.3
Small Business Information
NASCENT TECHNOLOGY CORP.
37 Liberty Avenue, Lexington, MA, 02420
Duns: 061935057
Hubzone Owned: N
Woman Owned: N
Socially and Economically Disadvantaged: N
Principal Investigator
 James Paduano
 President
 (617) 968-4552
 paduano@nascent-tech.com
Business Contact
 James Paduano
Title: President
Phone: (617) 968-4552
Email: paduano@nascent-tech.com
Research Institution
N/A
Abstract
The overall goal of the program is to demonstrate optic flow for aggressive, obstacle-avoiding flight, and to develop a vehicle that incorporates the necessary flight capabilities, guidance and control, and hardware for swallow-like flight and landing. The NTC/MIT autonomous helicopter (AHMMH-1) will act as a demonstrator vehicle for demonstration of static and dynamic obstacle avoidance. Combined reactive (insect-like) avoidance behaviors will be combined with dynamic planning based on receding horizon Mixed Integer-Linear Programming (MILP) and other dynamic planning architectures within the robust maneuver automaton (RMA) structure that is already supported by the AHMMH-1. The RMA approach provides a natural way to accommodate external events (sudden appearance of unknown obstacles, flying too close to known obstacles due to estimation errors, completely reactive navigation through cluttered spaces), and as such forms the baseline architecture for our planned developments.

* information listed above is at the time of submission.

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