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Minimum snap trajectory generation and control for quadrotors
An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs.
The GRASP Multiple Micro-UAV Testbed
In the last five years, advances in materials, electronics, sensors, and batteries have fueled a growth in the development of microunmanned aerial vehicles (MAVs) that are between 0.1 and 0.5 m in
Trajectory generation and control for precise aggressive maneuvers with quadrotors
It is shown that this approach permits the development of trajectories and controllers enabling such aggressive maneuvers as flying through narrow, vertical gaps and perching on inverted surfaces with high precision and repeatability.
Cooperative Grasping and Transport Using Multiple Quadrotors
This paper proposes individual robot control laws defined with respect to the payload that stabilize the payload along three-dimensional trajectories and detail the design of a gripping mechanism attached to each quadrotor that permits autonomous grasping of the payload.
Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams
An algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles in mixed-integer quadratic programs where the integer constraints are used to enforce collision avoidance.
Influence of Aerodynamics and Proximity Effects in Quadrotor Flight
This paper addresses the modeling of quadrotor robots in different flight conditions that include relative wind velocity and proximity to the ground, the ceiling and other robots and the incorporation of these models into controllers and the use of a swarm of robots to map features in the environment from variations in the aerodynamics.
Trajectory generation and control for quadrotors
This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple
Construction of Cubic Structures with Quadrotor Teams
It is shown that any SCS can be built using only the feasible assembly modes for individual structural elements and present simulation and experimental results with a team of quadrotors performing automated assembly.
Towards a swarm of agile micro quadrotors
A prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system and the hardware and software used to operate the vehicle as well the dynamic model are described.