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Andrew Hyslop
PhD Student

Department of Aerospace Engineering
3181 Glenn Martin Hall
University of Maryland
College Park, Maryland 20742
Graduate Research Assistant
Autonomous Vehicle Laboratory

Phone: (301) 405-3282  |  E-mail: ahyslop (at) umd.edu

Research Interests:

Interpretation of insect tangential cells used for processing of optic flow, stabilization and navigation of 6-DOF platforms using wide-field integration of optic flow

Dissertation Title:

Autonomous Navigation in 3-D Urban Environments Using Wide-Field Integration of Optic Flow

Abstract:

This dissertation introduces a control-theoretic framework to analyze an approach to information extraction from patterns of optic flow on spherical imaging surfaces using analogues to wide-field motion sensitive interneurons found in the insect visuomotor system. Small perturbation techniques are applied to link weighting patterns to outputs (relative speed and proximity), which are applied as feedback to facilitate stability augmentation and perform local obstacle avoidance and terrain following. Stability is proven via local asymptotic analysis and the resulting approach demonstrated in simulation using a micro-helicopter in a 3-D urban-like environment.

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J. Sean Humbert, Ph.D.
Techno-Sciences Associate Professor of Aerospace Engineering Innovation
3182 Glenn L. Martin Hall
University of Maryland
College Park, MD 20742
301.405.0328 TEL
301.314.9001 FAX
humbert (at) umd.edu