2026-09-18T17:40:22Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/170462022-01-13T07:54:11Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Eric Feron.
Martinos, Ioannis, 1977-
Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
2005-05-19T15:47:04Z
2005-05-19T15:47:04Z
2003
2003
http://hdl.handle.net/1721.1/17046
54977999
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003.
Includes bibliographical references (leaves 56-57).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
We use mathematical programming to perform simulated and actual flight experiments with the MIT autonomous helicopter platform. The experimental platform mechanical hardware, avionics and software architecture are described. Mixed Integer Linear Programming formulations for guidance experiments in obstacle avoidance and threat evasion are presented. Results from an experimental flight and flight simulations are presented and discussed. The performance of the GNU Linear Programming Kit (GLPK) software library, used in the experiments, is examined. The solvers internal branching heuristic, as it pertains to our formulations, is illustrated graphically. Finally, we discuss ways to improve the solvers performance by adding stronger objective bounds to the subproblems it creates while applying the branch and bound algorithm.
by Ioannis Martinos.
S.M.
57 leaves
2778092 bytes
2777594 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
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http://dspace.mit.edu/handle/1721.1/7582
Aeronautics and Astronautics.
Experiments in real time path planning for a small unmanned helicopter using mixed integer linear programming
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