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17
Introduction to Feedback Control of Underactuated VTOL Vehicles
"... The paper is an introduction to feedback control design for a family of robotic aerial vehicles with Vertical Take- ..."
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Cited by 8 (2 self)
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The paper is an introduction to feedback control design for a family of robotic aerial vehicles with Vertical Take-
3-D mutual localization with anonymous bearing measurements
- in 2012 IEEE Int. Conf. on Robotics and Automation
, 2012
"... Abstract — We present a decentralized algorithm for estimat-ing mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measure-ments coming from the robot IMU. Since identification of a speci ..."
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Cited by 7 (5 self)
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Abstract — We present a decentralized algorithm for estimat-ing mutual 3-D poses in a group of mobile robots, such as a team of UAVs. Our algorithm uses bearing measurements reconstructed, e.g., by a visual sensor, and inertial measure-ments coming from the robot IMU. Since identification of a specific robot in a group would require visual tagging and may be cumbersome in practice, we simply assume that the bear-ing measurements are anonymous. The proposed localization method is a non-trivial extension of our previous algorithm for the 2-D case [1], and exhibits similar performance and robustness. An experimental validation of the algorithm has been performed using quadrotor UAVs. I.
Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles
"... Abstract—Attitude estimation is a key component of the avionics suite of any aerial robotic vehicle. This paper details theoretical and practical solutions in order to obtain a robust nonlinear attitude estimator for flying vehicles equipped with low-cost sensors. The attitude estimator is based on ..."
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Cited by 5 (3 self)
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Abstract—Attitude estimation is a key component of the avionics suite of any aerial robotic vehicle. This paper details theoretical and practical solutions in order to obtain a robust nonlinear attitude estimator for flying vehicles equipped with low-cost sensors. The attitude estimator is based on a nonlinear explicit complementary filter that has been significantly enhanced with an effective gyro-bias compensation via the design of an antiwindup nonlinear integrator. A measurement decoupling strategy is proposed in order to make roll and pitch estimation robust to magnetic disturbances that are known to cause errors in yaw estimation. In addition, the paper discusses the fixed-point numerical implementation of the algorithm. Finally, simulation and experimental results confirm the performance of the proposed method. Index Terms—attitude estimation, nonlinear observer, gyrobias compensation, anti-windup integrator, magnetic disturbance, unmanned aerial vehicle I.
Stability and control of a quadrocopter despite the complete loss of one, two, or three propellers
- in 2014 IEEE International Conference on Robotics and Automation, Hong Kong, C
"... Abstract-This paper presents periodic solutions for a quadrocopter maintaining a height around a position in space despite having lost a single, two opposing, or three propellers. In each case the control strategy consists of the quadrocopter spinning about a primary axis, fixed with respect to the ..."
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Abstract-This paper presents periodic solutions for a quadrocopter maintaining a height around a position in space despite having lost a single, two opposing, or three propellers. In each case the control strategy consists of the quadrocopter spinning about a primary axis, fixed with respect to the vehicle, and tilting this axis for translational control. A linear, timeinvariant description of deviations from the attitude equilibrium is derived, allowing for a convenient cascaded control design. The results for the cases of losing one and two propellers are validated in experiment, while the case of losing three propellers is validated in a nonlinear simulation. These results have application in multicopter fault-tolerant control design, and also point to possible design directions for novel flying vehicles.
A semiautonomous UAV platform for indoor remote operation with visual and haptic feedback
- IEEE Int. Conf. on Robotics and Automation, Hong Kong
, 2014
"... Abstract — We present the development of a semi-autonomous quadrotor UAV platform for indoor teleoperation using RGB-D technology as exceroceptive sensor. The platform integrates IMU and Dense Visual Odometry pose estimation in order to stabilize the UAV velocity and track the desired velocity comma ..."
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Abstract — We present the development of a semi-autonomous quadrotor UAV platform for indoor teleoperation using RGB-D technology as exceroceptive sensor. The platform integrates IMU and Dense Visual Odometry pose estimation in order to stabilize the UAV velocity and track the desired velocity commanded by a remote operator though an haptic inter-face. While being commanded, the quadrotor autonomously performs a persistent pan-scanning of the surrounding area in order to extend the intrinsically limited field of view. The RGB-D sensor is used also for collision-safe navigation using a probabilistically updated local obstacle map. In the operator visual feedback, pan-scanning movement is real time compensated by an IMU-based adaptive filtering algorithm that lets the operator perform the drive experience in a oscillation-free frame. An additional sensory channel for the operator is provided by the haptic feedback, which is based on the obstacle map and velocity tracking error in order to convey information about the environment and quadrotor state. The effectiveness of the platform is validated by means of experiments performed without the aid of any external positioning system. I.
Hardware and software architecture for nonlinear control of multirotor helicopters
- Mechatronics, IEEE/ASME Transactions on
"... Abstract—This paper presents the design and implementation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is provided and a hierarchical nonlinear controller is ..."
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Abstract—This paper presents the design and implementation of a nonlinear control scheme for multirotor helicopters that takes first-order drag effects into account explicitly. A dynamic model including the blade flapping and induced drag forces is provided and a hierarchical nonlinear controller is presented. This con-troller is designed for both high-precision flights as well as ro-bustness against model uncertainties and external disturbances. This is achieved by using saturated integrators with fast desatura-tion properties. The implementation of the controller on the flybox hexacopter platform is described. The hardware and software ar-chitecture of this UAV is discussed, and useful hints and insights gained during its design process are presented. Finally, experimen-tal results and videos are reported to demonstrate the successful implementation and the performance of the overall system. Index Terms—Hardware and software architecture, hierarchical nonlinear control, multirotor helicopter. I.
Vision-based autonomous control of a quadrotor UAV using an onboard RGBD camera and its application to haptic teleoperation
- in 2nd IFAC Work. on Research, Education and Development of Unmanned Aerial Systems, Compiegne
, 2013
"... Abstract: In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimati ..."
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Cited by 1 (1 self)
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Abstract: In this paper we present the design of a platform for autonomous navigation of a quadrotor UAV based on RGB-D technology. The proposed platform can safely navigate in an unknown environment while self-stabilization is done relying only on its own sensor perception. We developed an estimation system based on the integration of IMU and RGB-D measurements in order to estimate the velocity of the quadrotor in its body frame. Experimental tests conducted as teleoperation experiments show the effectiveness of our approach in an unstructured environment. 1.
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"... model predictive controller for quadrocopter state interception ..."
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