Proceedings ArticleDOI
Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control
Gabriel M. Hoffmann,Steven L. Waslander,Michael P. Vitus,Haomiao Huang,Jeremy H. Gillula,Vijay Pradeep,Claire J. Tomlin +6 more
- pp 404-405
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TLDR
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control, a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles to validate multiple algorithms such as reactive collision avoidance, collision avoidance through Nash Bargaining, path planning, cooperative search and aggressive maneuvering.Abstract:
The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control, a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. The testbed has been used to validate multiple algorithms such as reactive collision avoidance, collision avoidance through Nash Bargaining, path planning, cooperative search and aggressive maneuvering. This article briefly describes the algorithms presented and provides references for a more in-depth formulation, and the accompanying movie shows the demonstration of the algorithms on the testbed.read more
Citations
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Control and Navigation Framework for Quadrotor Helicopters
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References
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Proceedings ArticleDOI
Quadrotor Helicopter Flight Dynamics and Control: Theory and Experiment
TL;DR: In this paper, a theoretical development is presented, and validated through both thrust test stand measurements and vehicle flight tests using the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control (STARMAC) quadrotor helicopter.
Proceedings ArticleDOI
Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering
TL;DR: 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.
Journal ArticleDOI
Mobile Sensor Network Control Using Mutual Information Methods and Particle Filters
TL;DR: This paper develops a set of methods enabling an information-theoretic distributed control architecture to facilitate search by a mobile sensor network that captures effects in more general scenarios that are not possible with linearized methods.
Proceedings Article
Modelling and control of a quad-rotor robot
TL;DR: The X-4 Flyer is developed, a quad-rotor robot using custom-built chassis and avionics with off-the-shelf motors and batteries, to be a highly reliable experimental platform.
Proceedings ArticleDOI
Indoor multi-vehicle flight test bed for fault detection, isolation, and recovery
TL;DR: Flight tests are presented of a unique indoor, multi-vehicle testbed that was developed to study long duration UAV missions in a controlled environment to embed health management into the full UAV planning system, thereby leading to improved overall mission performance.