Towards a swarm of agile micro quadrotors

  title={Towards a swarm of agile micro quadrotors},
  author={Aleksandr Kushleyev and Vijay R. Kumar and Daniel Mellinger},
  journal={Autonomous Robots},
We describe a prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system. [] Key Method We describe the hardware and software used to operate the vehicle as well our dynamic model. We also discuss the aerodynamics of vertical flight and the contribution of ground effect to the vehicle performance. Finally, we discuss architecture and algorithms to coordinate a team of these quadrotors, and provide experimental results for a team…

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