The USC autonomous flying vehicle: an experiment in real-time behavior-based control

A control system architecture is described for an autonomous flying vehicle. The vehicle, equipped with seventeen sensors, uses a model helicopter as an intraframe. The control system utilizes these sensors to remain aloft and in stable flight, to navigate to a target, and to manipulate a physical object. The overall approach to the problem is based on a behavioral paradigm. As the craft is airborne it is in constant risk of crashing. Unlike terrestrial mobile robots, the craft must constantly make sound decisions to maintain its integrity