Towards Intelligent Miniature Flying Robots

  title={Towards Intelligent Miniature Flying Robots},
  author={Samir Bouabdallah and Roland Y. Siegwart},
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… 
Autonomous Miniature Flying Robots: COMING SOON!
A new design methodology adapted to rotorcraft MFRs is introduced and two different application examples are presented: a mini quadrotor named OS4 and a compact coaxial rotor helicopter called CoaX.
Autonomous miniature flying robots: coming soon! - Research, Development, and Results
Some developments in the ASL-MFR project are presented, which reinforce the conviction in the emergence of autonomous MFRs.
Design, construction and control of a large quadrotor micro air vehicle
A design for a complete micro air-vehicle thruster that combines fixed-pitch small-scale rotors and embedded control that produces a mechanically simple, high-performance thruster with high reliability is developed.
design and control of quadrotors with application to autonomous flying
Backstepping is augmented with integral action and proposed as a single tool to design attitude, altitude and position controllers in this thesis and is validated through various flight experiments conducted on the OS4.
Investigation in the Control of a Four-Rotor Aerial Robot
The results of the simulation indicate that it is possible to design a controller to allow the quadcopter to hover stably and implement this architecture on the hardware and control the attitude, but it is necessary to have more information about the sensor data, more accurate parameter identification of the model and more robust control architecture to handle uncertainty in the plant.
Toward Obstacle Avoidance on Quadrotors
3 EPFL - CH 1015 - Lausanne, Switzerland Abstract: OS4 (Omnidirectional Stationary Flying OUtstretched Robot) is an electrically powered four-rotor miniature helicopter developed towards fully
Dynamics Modeling and Control of a Quad-rotor Helicopter
This thesis focuses on increasing the autonomy of one type of rotary wing UAV; namely a Quad-rotor Helicopter, where a detailed mathematical model was introduced for simulation of the dynamics and control of this system.
Intelligent control of miniature holonomic vertical take-off and landing robot
A fuzzy based controller for miniaturized unmanned aerial vehicle (UAV) that represents the original nonlinear function that describes the dynamics of the proposed system and can be used efficiently for the MFR applications.
In-flight collision avoidance controller based only on OS4 embedded sensors
This paper focuses not only on the development and implementation of a collision avoidance controller for a mini-robotic helicopter using only its embedded sensors, but also on the mathematical model that was essential for the controller developing phases.
Quadrotor UAV control : online learning approach
Quadrotor unmanned aerial vehicles (UAVs) are recognized to be capable of various tasks including search and surveillance for their agilities and small sizes. This thesis proposes a simple and robust


Towards dynamically favourable Quad-Rotor aerial robots
This paper outlines progress towards realising practical quad-rotor robot helicopters and, in particular, the Australian National University’s ‘X-4 Flyer’ platform with a rotor design technique for maximising thrust and the application of a novel rotor mast configuration.
Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor
The results of two nonlinear control techniques applied to an autonomous micro helicopter called Quadrotor are presented, a backstepping and a sliding-mode techniques.
From Wheels to Wings with Evolutionary Spiking Circuits
The motivation and methodology used to reach the EPFL indoor flying project goal are described as well as the results of a number of preliminary experiments on vision-based wheeled and flying robots.
Visually guided micro-aerial vehicle: automatic take off, terrain following, landing and wind reaction
  • F. Ruffier, N. Franceschini
  • Computer Science
    IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
  • 2004
The feasibility of a visuomotor control loop that acts upon the thrust so as to maintain the optic flow estimated in the downward direction to a reference value is shown.
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
This main contribution is to find explicit change of coordinates and control that transform several classes of underactuated systems into cascade nonlinear systems with structural properties that are convenient for control design purposes.
A Mathematical Introduction to Robotic Manipulation
INTRODUCTION: Brief History. Multifingered Hands and Dextrous Manipulation. Outline of the Book. Bibliography. RIGID BODY MOTION: Rigid Body Transformations. Rotational Motion in R3. Rigid Motion in
Analysis and control of underactuated mechanical nonminimum-phase systems
These Ecole polytechnique federale de Lausanne EPFL, n° 2024 (1999)Faculte des sciences et techniques de l'ingenieurLaboratoire d'automatiqueJury: Hans Geering, Martin Hasler, Jean Levine, Roland
Design and control of an indoor micro quadrotor
The approach that the lab has taken to micro VTOL evolving towards full autonomy is described, and the mechanical design, dynamic modelling, sensing, and control of the indoor VTOL autonomous robot OS4 are presented.
Autonomous Robots Joural Mars
  • Autonomous Robots Joural Mars
  • 2003