Andrew Roberts

Andrew Roberts, Abdelhamid Tayebi

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed strategy, is that the accelerometer is used to measure the apparent acceleration of the vehicle, as opposed to only measuring the gravity vector, which would otherwise lead to unexpected performance when the vehicle is accelerating (i.e. not in a hover configuration). Simulation results are provided to demonstrate the performance of the proposed position control strategy in the presence of noise and disturbances.

Qiang Fu, Francis Grady, Bjoern Flemming Broberg et al.

We need ways to improve the code quality. Programmers have different level of tenure and experience. Standard and programming languages change and we are forced to re-use legacy code with minimum revision. Programmers develop their habits and can be slow to incorporate new technologies to simplify the code or improve the performance. We rolled out our customized code review and pair programming process to address these issues. The paper discusses the about the improvement of mandatory code review and pair programming practiced in the commercial software development, and also proposes effective approaches to customize the code review and pair programming to avoid the pitfalls and keep the benefits.