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This paper describes a control approach for transitioning VTOL UAVs controlled by differential thrust, allowing to fly in all flight phases spanning a continuous transition between hover and cruise flight. A quaternion based attitude controller makes use of an additional reference frame that is rotated by the transition angle with respect to the body-fixed frame. This approach allows intuitive control...
High altitude platforms, also known as pseudo-satellites, are envisioned as unmanned aircraft flying at altitudes above 15 km to provide observation, remote sensing or communication services. A challenging yet recurring requirement for such aicraft is to be able to perform long-endurance missions over multiple days or even weeks. A sophisticated onboard energy management system including solar panels...
In this paper, we investigate the problem of the dynamics of a quadrotor unmanned aerial vehicle undergoing impact with its environment. This work is motivated by the fact that operation of UAVs (manual or autonomous) carries with it a significant risk of collision with surrounding objects, particularly in unknown, unstructured environments. To make small UAVs more viable and expand their autonomy,...
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