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Autonomous Robots
Erschienen in: Autonomous Robots 4/2013

01.11.2013

Towards a swarm of agile micro quadrotors

verfasst von: Alex Kushleyev, Daniel Mellinger, Caitlin Powers, Vijay Kumar

Erschienen in: Autonomous Robots | Ausgabe 4/2013

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Abstract

We describe a prototype 75 g micro quadrotor with onboard attitude estimation and control that operates autonomously with an external localization system. The motivation for designing quadrotors at this scale comes from two observations. First, the agility of the robot increases with a reduction in size, a fact that is supported by experimental results in this paper. Second, smaller robots are able to operate in tight formations in constrained, indoor environments. 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 of 20 micro quadrotors.
Vorheriger Artikel An anytime assignment algorithm: From local task swapping to global optimality
Nächster Artikel Implementation and stability analysis of prioritized whole-body compliant controllers on a wheeled humanoid robot in uneven terrains

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Metadaten
Titel
Towards a swarm of agile micro quadrotors
verfasst von
Alex Kushleyev
Daniel Mellinger
Caitlin Powers
Vijay Kumar
Publikationsdatum
01.11.2013
Verlag
Springer US
Erschienen in
Autonomous Robots / Ausgabe 4/2013
Print ISSN: 0929-5593
Elektronische ISSN: 1573-7527
DOI
https://doi.org/10.1007/s10514-013-9349-9

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