Power and weight considerations in small, agile quadrotors

Mulgaonkar, Yash; Whitzer, Michael; Morgan, Brian; Kroninger, Christopher; Harrington, Aaron; Kumar, Vijay

doi:10.1117/12.2051112

Cited by 30 publications

(30 citation statements)

References 13 publications

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“…Unfortunately, current maximum flight times under ideal operational conditions are To answer this question one can look at (i) improving the efficiency of batteries or other power sources, (ii) developing automated recharging methods, and (iii) improving the vehicles' energy efficiency. The efficiency of power sources is typically captured well by the source specific energy and power [43]. The source specific energy (measured in Wh kg 21 ) represents the total energy being available to the system.…”

Section: Energetics Of Small Rotorcraftmentioning

confidence: 99%

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Energetics in robotic flight at small scales

Karydis

Kumar

2017

Interface Focus.

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Recent advances in design, sensing and control have led to aerial robots that offer great promise in a range of real-world applications. However, one critical open question centres on how to improve the energetic efficiency of aerial robots so that they can be useful in practical situations. This review paper provides a survey on small-scale aerial robots (i.e. less than 1 m 2 area foot print, and less than 3 kg weight) from the point of view of energetics. The paper discusses methods to improve the efficiency of aerial vehicles, and reports on recent findings by the authors and other groups on modelling the impact of aerodynamics for the purpose of building energy-aware motion planners and controllers.

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Section: Energetics Of Small Rotorcraftmentioning

confidence: 99%

“…Aerial robots-especially those that hover-are by their very nature inefficient because they consume a substantial amount of power to sustain lift (approximately 200 W kg 21 [18,43]). The way to mitigate this problem is by considering multimodal aerial robots.…”

Section: Multimodal Operationmentioning

confidence: 99%

Energetics in robotic flight at small scales

Karydis

Kumar

2017

Interface Focus.

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“…Smaller vehicles have the potential to be more agile and safer for use in close proximity to humans, but they also have lower payload capacities for sensing and computation resources. Several works have proposed designs for small vehicles (131) and rapid, repeatable fabrication methods for their production (132); however, these prototypes rely on offboard resources, and many challenges remain before platforms that are small, lightweight, and affordable can be produced.…”

Section: Discussionmentioning

confidence: 99%

Autonomous Flight

Tang

Kumar

2018

Annu. Rev. Control Robot. Auton. Syst.

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This review surveys the current state of the art in the development of unmanned aerial vehicles, focusing on algorithms for quadrotors. Tremendous progress has been made across both industry and academia, and full vehicle autonomy is now well within reach. We begin by presenting recent successes in control, estimation, and trajectory planning that have enabled agile, highspeed flight using low-cost onboard sensors. We then examine new research trends in learning and multirobot systems and conclude with a discussion of open challenges and directions for future research. 6.1

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“…Development and design of multirotors are considerably constrained by their size, weight and power consumption [2]. There are a few papers [3,4] that deal with configuration parameters important for the design of multirotors intended to perform different tasks such as disaster site observations or search and rescue missions [5,6].…”

Section: Introductionmentioning

confidence: 99%

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

Kotarski

Piljek

Brezak

et al. 2018

TFAMENA

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SummaryIn this paper, a control allocation scheme is presented for a multirotor type of an Unmanned Aerial Vehicle (UAV). The control allocation scheme depends on the multirotor configuration and rotor system parameters, and it enables analysis of dynamics of different multirotor designs depending on the purpose and the task which the multirotor has to carry out. The analysis of force and moment distribution in space shows that the non-flat design with passively tilted rotors can overcome an inherent underactuated condition of flat multirotor configurations. By increasing the tilt angle, the multirotor is able to achieve full controllability over its six degrees of freedom (6 DOFs). A robust chattering-free sliding mode asymptotic tracking control design of a fully actuated multirotor is presented. The simulation results show satisfying tracking performance of the proposed controller.

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Power and weight considerations in small, agile quadrotors

Cited by 30 publications

References 13 publications

Energetics in robotic flight at small scales

Energetics in robotic flight at small scales

Autonomous Flight

Chattering-Free Tracking Control of a Fully Actuated Multirotor with Passively Tilted Rotors

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