Towards Intelligent Miniature Flying Robots

@inproceedings{Bouabdallah2005TowardsIM,
  title={Towards Intelligent Miniature Flying Robots},
  author={Samir Bouabdallah and Roland Y. Siegwart},
  booktitle={FSR},
  year={2005}
}
This paper presents a practical method for small-scale VTOL3 design. It helps for elements selection and dimensioning. We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achieving 100% thrust margin for 30 min autonomy. The robot is capable of rotational and translational motion estimation. Finally, we derive a nonlinear dynamics simulation model, perform a simulation with a PD test controller and test successfully… 
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