1. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 1 Chapter 11 Path Manager

2. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 2 path planner path manager path following autopilot unmanned aircraft waypoints on-board sensors position error tracking error status destination, obstacles servo commands state estimator wind path definition airspeed, altitude, heading, commands map Control Architecture

3. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 3 Path Definition

4. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 4 Waypoint Switching Two methods –b-ball around waypoint –half plane through waypoint

5. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 5 Waypoint Switching

6. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 6 Waypoint Following

7. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 7 Waypoint Following Results

8. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 8 Fillet Transition Transition between path segments can be smoothed by adding a fillet

9. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 9 Fillet Geometry

10. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 10 Fillet Smoothing Half Planes

11. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 11 Waypoint Following with Fillets

12. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 12 Waypoint Following with Fillets

13. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 13 Fillet Path Length

14. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 14 Dubins Paths turn-straight-turn

15. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 15 Four Cases Dubins path is defined as shortest of four cases

16. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 16 Path Length Preliminaries

17. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 17 Alternative Viewpoint

18. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 18 Alternative Viewpoint

19. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 19 Dubins Case I: R-S-R

20. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 20 Dubins Case II: R-S-L

21. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 21 Dubins Case III: L-S-R

22. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 22 Dubins Case IV: L-S-L

23. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 23 Dubins Path Half-plane Switching

24. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 24 Dubins Path Parameters Algorithm

25. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 25 Dubins Path Following Algorithm

26. Beard & McLain, “Small Unmanned Aircraft,” Princeton University Press, 2012, Chapter 11, Slide 26 Dubins Path Following Results