Proceedings ArticleDOI
The Flying Machine Arena as of 2010
Sergei Lupashin,Angela Schollig,Markus Hehn,Raffaello D'Andrea +3 more
- pp 2970-2971
TLDR
An overview of the FMA infrastructure and hardware, which includes a fleet of quadrocopters and a motion capture system for vehicle localization, is shown.Abstract:
The Flying Machine Arena (FMA) is an indoor research space built specifically for the study of autonomous systems and aerial robotics. In this video, we give an overview of this testbed and some of its capabilities. We show the FMA infrastructure and hardware, which includes a fleet of quadrocopters and a motion capture system for vehicle localization. The physical components of the FMA are complemented by specialized software tools and components that facilitate the use of the space and provide a unified framework for communication and control. The flexibility and modularity of the experimental platform is highlighted by various research projects and demonstrations.read more
Citations
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Proceedings ArticleDOI
PX4: A node-based multithreaded open source robotics framework for deeply embedded platforms
TL;DR: A novel, deeply embedded robotics middleware and programming environment that uses a multithreaded, publish-subscribe design pattern and provides a Unix-like software interface for micro controller applications, which is well suited for fast, high rate control tasks.
Journal ArticleDOI
Shared Control : Balancing Autonomy and Human Assistance with a Group of Quadrotor UAVs
Abstract: Robustness and flexibility constitute the main advantages of multiple-robot systems with respect to single-robot ones as per the recent literature. The use of multiple unmanned aerial vehicles (UAVs) combines these benefits with the agility and pervasiveness of aerial platforms [1], [2]. The degree of autonomy of the multi-UAV system should be tuned according to the specificities of the situation under consideration. For regular missions, fully autonomous UAV systems are often appropriate, but, in general, the use of semiautonomous groups of UAVs, supervised or partially controlled by one or more human operators, is the only viable solution to deal with the complexity and unpredictability of real-world scenarios as in, e.g., the case of search and rescue missions or exploration of large/cluttered environments [3]. In addition, the human presence is also mandatory for taking the responsibility of critical decisions in high-risk situations [4].
Journal ArticleDOI
Collision avoidance for aerial vehicles in multi-agent scenarios
TL;DR: This article describes an investigation of local motion planning, or collision avoidance, for a set of decision-making agents navigating in 3D space, which builds on the concept of velocity obstacles, which characterizes the set of trajectories that lead to a collision between interacting agents.
Journal ArticleDOI
An Automated Battery Management System to Enable Persistent Missions With Multiple Aerial Vehicles
TL;DR: An autonomous battery maintenance mechatronic system that significantly extends the operational time of battery powered small-scaled unmanned aerial vehicles (UAVs) is presented and a simultaneous change and charge approach is used to overcome the significant downtime experienced by existing charge-only approaches.
Proceedings ArticleDOI
System identification, estimation and control for a cost effective open-source quadcopter
Inkyu Sa,Peter Corke +1 more
TL;DR: This paper describes system identification, estimation and control of translational motion and heading angle for a cost effective open-source quadcopter - the MikroKopter and results for the estimator and closed-loop positioning are presented and compared with ground truth from a motion capture system.
References
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Journal ArticleDOI
The GRASP Multiple Micro-UAV Testbed
TL;DR: In the last five years, advances in materials, electronics, sensors, and batteries havefueled a growth in the development of microunmanned aerial vehicles (MAVs) that are between 0.1 and 0.5 m in length and0.1-0.5 kg in mass.
Journal ArticleDOI
Real-time indoor autonomous vehicle test environment
TL;DR: The main components and architecture of RAVEN are described and recent flight test results are presented illustrating the applications discussed above.
Proceedings ArticleDOI
A simple learning strategy for high-speed quadrocopter multi-flips
TL;DR: A simple and intuitive policy gradient method for improving parametrized quadrocopter multi-flips by combining iterative experiments with information from a first-principles model is described.
Proceedings ArticleDOI
A flying inverted pendulum
Markus Hehn,Raffaello D'Andrea +1 more
TL;DR: This work extends the classic control problem of the inverted pendulum by placing the pendulum on top of a quadrotor aerial vehicle, using a ‘Virtual Body Frame’ for the time-invariant description of curved trajectories.
Proceedings ArticleDOI