A mapping system for an autonomous helicopter

Acknowledgments: This thesis was prepared at The Charles Stark Draper Laboratory, Inc., under Internal Research & Development No. 18598. Publication of this thesis does not constitute approval by Draper or the sponsoring agency of the findings or conclusions contained herein. It is published for the exchange and stimulation of ideas. The work that is described in this document was by no means done all by myself. There are many people that I would like to thank for their support of my education here at MIT and Draper Laboratory during the past few years. I would like to thank the members of the helicopter team, who have greatly influenced my development as an engineer: Paul Debitetto, Christian Trott, Bob Butler, Long Phan, Mike Piedmonte, and Anthony Lorusso. Special thanks goes to Paul Debitetto for his thoughtful critiquing and leadership. Long Phan was my close partner in the design of the scanning laser rangefinder, and this thesis would not have been possible without his inspiration and expertise. During my work on the mapping system, a number of Draper staff took time out of their own busy schedules to help me. I am especially indebted to Chris Sanders, Chris Smith, John Plump. Linda Leonard, John Danis, and Dave Hauger for their patience and helpfulness over the last year. I would also like to thank my MIT advisor, Seth Teller, for helping me to graduate this year. Other Draper fellows and students in the autonomous vehicle lab have also provided me with both technical expertise and encouragement. I would like to thank Mohan Gurunathan, Jonah Peskin, and Bill Kaliardos for their advice and moral support. Finally, I would like to thank my entire family for years of encouragement and support. It is to my mother, father, and sister that I dedicate this thesis. Rusty Sammon May, 1999.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

1999

Author dc:creator

• Sammon, Russell (Russell Pratt), 1976-

Advisor dc:contributor.advisor

• Paul A. DeBitetto and Seth Teller.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/55065

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/55065