The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The paper reports on the energy consumption of smooth trajectories for stop-and-go navigation of aerial robots. We consider a decimeter-scale quadrotor tasked to travel on straight line, constant height trajectories from an initial hover configuration to another hover configuration. We investigate three prominent types of smooth trajectories (minimum acceleration, minimum jerk and minimum snap), and...
In this work, we demonstrate that the position tracking performance of a quadrotor may be significantly improved for forward and vertical flight by incorporating simple lumped parameter models for induced drag and thrust, respectively, into the quadrotor dynamics and modifying the controller to compensate for these terms. We further show that the parameters for these models may be easily and accurately...
We present a modified trajectory tracking controller based on a novel re-parameterization of the reference trajectory with respect to an independent variable whose dynamics can be controlled. A hybrid controller is designed so that the dynamics of both the robot and the reference parameter can respond to disturbances. The proposed hybrid controller is more robust to large disturbances, and hence is...
The paper depicts the reviews on evolution of a cube shaped device called the Cubli, which has the ability to leap up, create equilibrium on different angles and edges. The study is focussed upon the control techniques when there is a sudden brake on high angular velocity rotation of reaction wheels, which are seated on the surface of Cubli, allowing the Cubli to leap up, first to its edge, and then...
We present an algorithm for the generation of optimal trajectories for teams of heterogeneous quadrotors in three-dimensional environments with obstacles. We formulate the problem using mixed-integer quadratic programs (MIQPs) where the integer constraints are used to enforce collision avoidance. The method allows for different sizes, capabilities, and varying dynamic effects between different quadrotors...
We address the controller design and the trajectory generation for a quadrotor maneuvering in three dimensions in a tightly constrained setting typical of indoor environments. In such settings, it is necessary to allow for significant excursions of the attitude from the hover state and small angle approximations cannot be justified for the roll and pitch. We develop an algorithm that enables the real-time...
Most field systems today are maintained systems. Decisions about reliability of these systems are based on field or test failure data. For highly reliable and good quality systems the failures are few and far between. To understand their failure behaviour and reliability characteristics will take a long time. If the prototype systems are subjected to tests with higher levels of stresses leading to...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.