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This paper proposes a control structure for a heterogeneous leader-follower formation involving an unmanned ground vehicle (UGV) — the leader, and an unmanned aerial vehicle (UAV) — the follower, based on their kinematic models. The control architecture is a centralized one, in which it is possible to get the robots sensory data and to synthesize and deliver the control signals necessary to establish...
This paper describes the application of a low-cost quadrotor testbed in real outdoor flights. Along the text it is discussed how to design a flight control system, including methods for fusing out-of-sequence sensor measurements, for modelling the aircraft and for designing a high level flight controller. To validate the proposed system, some flights were performed, executing the specific tasks of...
This paper presents an intuitive way to control the position of a quad rotor, through a human-machine interface (HMI), based on a motion sensor, which uses the movements of the body to command the mobile platform (in such case, an aerial vehicle). The experimental results were obtained by using the Microsoft Kinect Sensor (for detection and tracking of the user), and after acquiring the data, the...
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