Hyeonbeom Lee

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This paper considers onboard control of a small-sized quadrotor using a strapdown embedded optical flow sensor which is conventionally used for desktop mice. The vehicle considered in this paper can carry only few dozen grams of payload, therefore conventional camera-based optical flow methods are not applicable. We present hovering control of the(More)
— This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial manipulator dynamics. With the estimated mass information and the augmented passivity-based controller, the aerial(More)
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