Collaborative mapping and search for autonomous helicopters

Eric Johnson, John G. Mooney, Daniel P. Magree, Matthew White, Jonathan Hartman, Vineet Sahasrabudhe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


This paper describes recent results from a partnership between the Sikorsky Aircraft Corporation and the Georgia Institute of Technology to develop, improve, and flight test a multi-aircraft collaborative architecture, focused on decentralized autonomous decision-making. The architecture includes a finite-state machine, Voronoi mapping strategy, and real-time information sharing system designed to solve a challenge problem. The architecture was implemented on a pair of Yamaha RMax helicopters outfitted with modular avionics, as well as an associated set of simulation tools. Simulation results for single- and multiple-aircraft scenarios are presented, along with a quadratic relationship between mapping speed and task completion time. Further work suggested includes validation of simulation results in flight test with two real aircraft, as well as further exploration between search problem parameters and theoretical optimal performance. Copyright

Original languageEnglish (US)
Title of host publication69th American Helicopter Society International Annual Forum 2013
Number of pages9
StatePublished - Sep 9 2013
Event69th American Helicopter Society International Annual Forum 2013 -
Duration: May 21 2013May 23 2013

Publication series

NameAnnual Forum Proceedings - AHS International
ISSN (Print)1552-2938


Other69th American Helicopter Society International Annual Forum 2013

All Science Journal Classification (ASJC) codes

  • General Engineering


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