Towards Autonomous Indoor Micro VTOL

Bouabdallah, Samir; Murrieri, Pierpaolo; Siegwart, Roland

doi:10.1007/s10514-005-0724-z

Cited by 153 publications

(87 citation statements)

References 6 publications

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“…The attitude error function defined in (8) has the following critical points: the identity matrix, and rotation matrices that can be written as exp(πv) for any v ∈ S 2 . These non-identity critical points of the attitude error function lie outside of the region of attraction.…”

Section: E Properties and Extensionsmentioning

confidence: 99%

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Geometric tracking control of a quadrotor UAV on SE(3)

Lee

Leoky

McClamroch

2010

49th IEEE Conference on Decision and Control (CDC)

1,100

846

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Abstract-This paper provides new results for the tracking control of a quadrotor unmanned aerial vehicle (UAV). The UAV has four input degrees of freedom, namely the magnitudes of the four rotor thrusts, that are used to control the six translational and rotational degrees of freedom, and to achieve asymptotic tracking of four outputs, namely, three position variables for the vehicle center of mass and the direction of one vehicle body-fixed axis. A globally defined model of the quadrotor UAV rigid body dynamics is introduced as a basis for the analysis. A nonlinear tracking controller is developed on the special Euclidean group SE(3) and it is shown to have desirable closed loop properties that are almost global. Several numerical examples, including an example in which the quadrotor recovers from being initially upside down, illustrate the versatility of the controller.

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Section: E Properties and Extensionsmentioning

confidence: 99%

“…Linear control systems such as proportionalderivative controllers or linear quadratic regulators are widely used to enhance the stability properties of an equilibrium [1], [3], [4], [8], [9]. A nonlinear controller is developed for the linearized dynamics of a quadrotor UAV with saturated positions in [10].…”

Section: Introductionmentioning

confidence: 99%

Geometric tracking control of a quadrotor UAV on SE(3)

Lee

Leoky

McClamroch

2010

49th IEEE Conference on Decision and Control (CDC)

1,100

846

View full text Add to dashboard Cite

show abstract

“…This has lead to the emergence of multi-rotor aircraft, like quadrotors (Bouabdallah et al, 2005;Gurdan et al, 2007;Hoffmann et al, 2004Hoffmann et al, , 2007Waslander et al, 2005), hexarotors and octorotors (Romero et al, 2007;Salazar et al, 2009), using simple controllers, such as a Proportional-Derivative, which have recently become very popular as simple control and hardware can be appealing.…”

Section: Flight Stabilisationmentioning

confidence: 99%

Underwater Robot Swarms: Challenges and Opportunities

2013

Handbook of Collective Robotics

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“…The idea of using flying robots to explore indoor environments has become popular within the robotic community in recent times [1], [2], [3], [4], [5] 1 2 . Flying has an advantage when compared to ground based locomotion, as it simplifies the task of overcoming obstacles and allows for rapid coverage of an area while also providing a birds-eyeview of the environment.…”

Section: Challenges and State Of The Artmentioning

confidence: 99%

Energy management for indoor hovering robots

Roberts

Zufferey

Floreano

2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Flying has an advantage when compared to ground based locomotion, as it simplifies the task of overcoming obstacles and allows for rapid coverage of an area while also providing a birds-eye-view of the environment. One of the key challenges that has prevented engineers from coming up with convincing aerial solutions for indoor exploration is the energetic cost of flying. This paper presents a way of mitigating the energy problem regarding aerial exploration within indoor environments. This is achieved by means of a model to estimate the endurance of a hover-capable flying robot and by using ceiling attachment as a means of preserving energy while maintaining a birds-eye-view. The proposed model for endurance estimation has been extensively tested using a custom-developed quadrotor and autonomous ceiling attachment system. I. CHALLENGES AND STATE OF THE ARTThe idea of using flying robots to explore indoor environments has become popular within the robotic community in recent times1 2 . Flying has an advantage when compared to ground based locomotion, as it simplifies the task of overcoming obstacles and allows for rapid coverage of an area while also providing a birds-eyeview of the environment. One of the key challenges that has prevented engineers from coming up with convincing aerial solutions for indoor exploration is the energetic cost of flying, which is orders of magnitude higher than that of terrestrial locomotion.Imagine a robot that can fly around indoors, its task is to search a building for a pre-defined target, for example an injured human. It flies into a room and uses its onboard thermal vision sensors to scan the room for the injured human. After finding no positive matches the robot flies into the next room. The robot searches three rooms in this manner and locates the injured human in the last room. The robot has a limited amount of energy. If the robot was required to search more than these three rooms, then it is likely that its limit is reached before finding its target. If the robot could attach to the ceiling while it is searching the room, instead of remaining airborne, the search could be extended from minutes to hours, which could make all the difference in such a situation.Valenti and collaborators have developed a health management system to aid online mission planning for swarms of hovering Unmanned Air Vehicles (UAV) [6]. They have found that it is possible to estimate the remaining flight endurance by comparing the platforms battery voltage and This paper tackles the energy problem of aerial exploration within indoor environments, first by using ceiling attachment as a means for preserving energy, while still maintaining the birds-eye-view and second by providing an estimation model to estimate the endurance of a hover-capable flying robot. The proposed model for endurance estimation has been extensively tested using a custom-developed quadrotor and ceiling attachment system (Fig. 1). The ceiling attachment feature has been successfully demonstrated by autonomously flying ...

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Towards Autonomous Indoor Micro VTOL

Cited by 153 publications

References 6 publications

Geometric tracking control of a quadrotor UAV on SE(3)

Geometric tracking control of a quadrotor UAV on SE(3)

Underwater Robot Swarms: Challenges and Opportunities

Energy management for indoor hovering robots

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