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— This paper presents a method for enabling a fleet of circularly arranged quadrocopters to throw and catch balls with a net. Based on a first-principles model of the net forces, nominal inputs for all involved vehicles are derived for arbitrary target trajectories of the net. Two algorithms that generate open-loop trajectories for throwing and catching a(More)
— An algorithm is proposed allowing for the rapid generation and evaluation of quadrocopter state interception trajectories. These trajectories are from arbitrary initial states to final states defined by the vehicle position, velocity and acceleration with a specified end of time. Sufficient criteria are then derived allowing trajectories to be tested for(More)
— A state estimator for a quadrocopter is presented, using measurements from an accelerometer, angular rate gyro-scope, and a set of ultra-wideband ranging radios. The estima-tor uses an extended aerodynamic model for the quadrocopter, where the full 3D airspeed is observable through accelerometer measurements. The remaining quadrocopter states, including(More)
— An autonomous safety mechanism is presented, as implemented in an indoor flying vehicle research testbed. The safety mechanism relies on integration of onboard gyroscope measurements and thrust commands to estimate the vehicle state for short lengths of time. It is used in the case of loss of external control signal or loss of external measurement data,(More)
—A method is presented for the rapid generation and feasibility verification of motion primitives for quadrocopters and similar multirotor vehicles. The motion primitives are defined by the quadrocopter's initial state, the desired motion duration, and any combination of components of the quadrocopter's position, velocity and acceleration at the motion's(More)
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