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Meeting	ACGS Committee Meeting 101 - Salt Lake City - March 2008
Agenda Location	5 SUBCOMMITTEE C - AVIONICS AND SYSTEM INTEGRATION 5.3 Vision Directed Guidance and Control of Micro Air Vehicles
Title	Vision Directed Guidance and Control of Micro Air Vehicles
Presenter	Randy Beard
Affiliation	Brigham Young University
Available Downloads*	presentation
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	This talk will describe current research at BYU on vision based control of micro air vehicles. The talk will describe results for both fixed wing UAVs as well as quadrotors. For fixed wing vehicles we will describe approaches to target geolocation and vision based target prosecution. We will also describe an approach to vision based perimeter tracking. One of the key challenges with vision based control is keeping objects of interest in the camera field-of-view. We will describe our approach to collision avoidance, orbiting, and target prosecution, explicitly accounting for field-of-view constraints. For the quadrotor, we will describe estimation and control techniques that allow a quadrotor to track a ground target using on-board vision. Flight results will be described for each technique.