A mapping system for an autonomous helicopter

Thesis (M.Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.Includes bibliographical references (p. 127-128).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.by Russell Sammon.M.Eng.and S.B