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Journals and Conferences
The publisher would like to acknowledge the authors of this volume for providing the camera-ready copy from which this book was printed.
This paper considers the problem of obtaining good attitude estimates from measurements obtained from typical low cost inertial measurement units. The outputs of such systems are characterized by… (More)
This article provides a tutorial introduction to modeling, estimation, and control for multirotor aerial vehicles that includes the common four-rotor or quadrotor case.
We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose… (More)
A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to “eye-in-hand” systems where the camera is… (More)
This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear… (More)
In the early eighties Lojasiewicz [Loj84] proved that a bounded solution of a gradient flow for an analytic cost function converges to a well-defined limit point. In this paper, we show that the… (More)
This paper considers the question of using a nonlinear complementary filter for attitude estimation of fixed-wing unmanned aerial vehicle (UAV) given only measurements from a low-cost inertial… (More)
An image-based visual servo control is presented for an unmanned aerial vehicle (UAV) capable of stationary or quasi-stationary flight with the camera mounted onboard the vehicle. The target… (More)
This paper presents a nonlinear controller for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV) that exploits a measurement optical flow to enable hover and landing control on a… (More)