Towards a swarm of agile micro quadrotors

@article{Kushleyev2012TowardsAS,
  title={Towards a swarm of agile micro quadrotors},
  author={Aleksandr Kushleyev and Vijay R. Kumar and Daniel Mellinger},
  journal={Autonomous Robots},
  year={2012},
  volume={35},
  pages={287-300}
}
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…

Control of a small quadrotor for swarm operation

Abstract Small quadrotors, or so-called nanoquads, are widely available, typically have small take-off mass (between 12–50 g), and a flight time of about 5–10 minutes. The aim of this article is the

An autonomous swarm of micro flying robots with range-based relative localization

An autonomous multi-robot system equipped with a fully onboard range-based relative positioning system that uses onboard sensing of velocity, yaw rate, and height as inputs, and then estimates the relative position of other robots in its own body frame by fusing these quantities with ranging measurements obtained from onboard ultra wide-band (UWB) antennas.

Towards establishing and maintaining autonomous quadrotor formations

An algorithm is proposed to establish a swarm formation of centrally controlled quadrotors, which can be used for payload manipulation and surveillance, and the behavior of quadrotor swarm formations with centralized control.

A testbed for aerial robots formation flight

A sample-based real-time path planning method is implemented in simulation and a position control algorithm is developed using the identification dynamic model of a quadrotor for formation flight research.

mu-AV - Design and implementation of an open source micro quadrotor

The design of μAV, a palm size open source micro quadrotor constructed on a single Printed Circuit Board is presented to provide a lightweight and cheap robotic research platform that can be used for a range of robotic applications.

Autonomous Flight of a Quadrocopter Group with the Use of the Virtual Leader Strategy

In this article we present an algorithm of controlling the quadrocopters swarm and a theory of applying the Kalman filter for the equations of motion of a quadrocopter in mountainous conditions. In

Agile Coordination and Assistive Collision Avoidance for Quadrotor Swarms Using Virtual Structures

This paper presents a method for controlling a swarm of quadrotors to perform agile interleaved maneuvers while holding a fixed relative formation, or transitioning between different formations, built upon the existing notion of a virtual structure.

Optical-flow-based Stabilization of Micro Air Vehicles Without Scaling Sensors

An adaptive control strategy to stabilize a micro quadrotor in all three axes using only an Inertial Measurement Unit (IMU) for the attitude control and a monocular camera for canceling position drift is presented.

The flying monkey: A mesoscale robot that can run, fly, and grasp

The flying monkey is presented, a novel robot platform having three main capabilities: walking, grasping, and flight that has increased mission life and capabilities through the combination of the functionalities of legged and aerial robots.

Formation Control of Quadrotor UAVs by Vision-Based Positioning

In this paper, a formation control method of quadrotor Unmanned Aerial Vehicles by vision-based positioning is presented and is validated by an experiment with a motion capture system which provides the ground truth of the position data.
...

References

SHOWING 1-10 OF 38 REFERENCES

Towards A Swarm of Agile Micro Quadrotors

It is argued that the reduction in size leads to agility and the ability to operate in tight formations and experimental arguments in support of this claim are provided.

Trajectory generation and control for precise aggressive maneuvers with quadrotors

It is shown that this approach permits the development of trajectories and controllers enabling such aggressive maneuvers as flying through narrow, vertical gaps and perching on inverted surfaces with high precision and repeatability.

Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering

Previous work on several important aerodynamic effects impacting quadrotor flight in regimes beyond nominal hover conditions are investigated and control techniques are presented that compensate for them accordingly.

Minimum snap trajectory generation and control for quadrotors

An algorithm is developed that enables the real-time generation of optimal trajectories through a sequence of 3-D positions and yaw angles, while ensuring safe passage through specified corridors and satisfying constraints on velocities, accelerations and inputs.

Opportunities and challenges with autonomous micro aerial vehicles

We survey the recent work on micro unmanned aerial vehicles (UAVs), a fast-growing field in robotics, outlining the opportunities for research and applications, along with the scientific and

Autonomous multi-floor indoor navigation with a computationally constrained MAV

This paper addresses multi-floor mapping with loop closure, localization, planning, and autonomous control, including adaptation to aerodynamic effects during traversal through spaces with low vertical clearance or strong external disturbances.

Adaptive Control for a VTOL UAV Operating Near a Wall

In this paper, we proposed a neural-network-based adaptive controller to adapt against unknown, possibly time varying, external disturbances for a quadrotor UAV. The proposed algorithm can estimate

Design and dynamic modeling of autonomous coaxial micro helicopters

This thesis deals with the design, the dynamic modeling and the simulation of autonomous coaxial micro helicopters. The helicopter prototypes and modeling results that are presented are part of the

Influence of Aerodynamics and Proximity Effects in Quadrotor Flight

This paper addresses the modeling of quadrotor robots in different flight conditions that include relative wind velocity and proximity to the ground, the ceiling and other robots and the incorporation of these models into controllers and the use of a swarm of robots to map features in the environment from variations in the aerodynamics.

Control of Ensembles of Aerial Robots

This paper addresses the development of a framework and robot controllers that enable a group of aerial robots to maintain a formation with partial state information while avoiding collisions.