Towards a swarm of agile micro quadrotors

Autonomous Robots

Volumn 35, Issue 4, 2013, Pages 287-300

  Kushleyev, Alex ^a   Mellinger, Daniel ^a   Powers, Caitlin ^a   Kumar, Vijay ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

Micro aerial vehicles; Quadrotors; Trajectory generation

Indexed keywords

ATTITUDE ESTIMATION; HARDWARE AND SOFTWARE; INDOOR ENVIRONMENT; LOCALIZATION SYSTEM; MICRO AERIAL VEHICLE; QUADROTORS; TRAJECTORY GENERATION; VERTICAL FLIGHT;

MICRO AIR VEHICLE (MAV); VEHICLE PERFORMANCE;

AIRCRAFT;

EID: 84883551742     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-013-9349-9     Document Type: Conference Paper

References (37)

1. Aeroenvironment. (2011). Aeroenvironment nano hummingbird. http://www.avinc.com/nano. Accessed Oct 2012.
2. Anderson, C.; Franks, N. R. (2001). Teams in animal societies. Behavioral Ecology, 12(5), 534540.
3. Ascending Technologies, GmbH. (2012). http://www.asctec.de. Accessed Oct 2012.
4. Beard, R. W.; Lawton, J.; Hadaegh, F. Y. (2001). A coordination architecture for spacecraft formation control. IEEE Transactions on Control Systems Technology, 9(6), 777-790.
5. Bermes, C (2010). Design and dynamic modeling of autonomous coaxial micro helicopters. PhD thesis, ETH Zurich, Switzerland.
6. Bouabdallah, S (2007). Design and control of quadrotors with applications to autonomous flying. PhD thesis, Ecole Polytechnique Federale de Lausanne, Lausanne, Switzerland.
7. Boost C++ Libraries. (2012). http://www.boost.org. Accessed Oct 2012.
8. Bullo, F.; Cortés, J.; Martínez, S. (2009). Distributed control of robotic networks: A mathematical approach to motion coordination algorithms. Princeton, NJ: Princeton University Press. (Applied Mathematics Series).
9. Desai, J. P.; Ostrowski, J. P.; Kumar, V. (2001). Modeling and control of formations of nonholonomic mobile robots. IEEE Transactions on Robotics, 17(6), 905-908.
10. Egerstedt, M.; Hu, X. (2001). Formation constrained multi-agent control. IEEE Transactions on Robotics and Automation, 17(6), 947-951.
11. Floreano, D.; Zufferey, J. C.; Klaptocz, A.; Germann, J. M.; Kovac, M. (2011). Aerial locomotion in cluttered environments. In Proceedings of the 15th international symposium on robotics research. Flagstaff, AZ.
12. Huang, H.; Hoffmann, G.; Waslander, S.; Tomlin, C. (2009). Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering. In ICRA '09 IEEE international conference on robotics and automation (pp. 3277-3282). doi: 10.1109/ROBOT.2009.5152561.
13. International Business Machines Corporation. (2009). IBM ILOG CPLEX V12.1: Users manual for CPLEX. New York: IBM.
14. Inter Process Communication. (2012). http://www.cs.cmu.edu/ipc/. Accessed Oct 2012.
15. Johnson, W. (1980). Helicopter theory. Princeton, NJ: Princeton University Press.
16. Kim, H.J.; Kim, S.; Lee, D.; Awan, A. (2012). Adaptive control for a VTOL UAV operating near a wall. In AIAA Guidance, Navigation, and Control Conference, Guidance, Navigation, and Control and co-located conferences. Boston: American Institute of Aeronautics and Astronautics. doi: 10.2514/6.2012-4835.
17. Kumar, V.; Michael, N. (2011). Opportunities and challenges with autonomous micro aerial vehicles. In International symposium on robotics research. Flagstaff, AZ.
18. Kumar, V.; Michael, N. (2012). Opportunities and challenges with autonomous micro aerial vehicles. International Journal of Robotics Research, 31(11), 1279-1291.
19. Kushleyev, A.; Mellinger, D.; Kumar, V. (2012). Towards a swarm of agile micro quadrotors. In Proceedings of robotics: Science and systems. Sydney, Australia.
20. Leishman, J. G. (2000). Principles of helicopter aerodynamics (Chap. 10). New York: Cambridge University Press.
21. Lupashin, S.; Schollig, A.; Sherback, M.; D'Andrea, R. (2010). A simple learning strategy for high-speed quadrocopter multi-flips. In Proceedings of the IEEE international conference on robotics and automation (pp. 1642-1648). Anchorage, AK.
22. Mellinger, D.; Kumar, V. (2011). Minimum snap trajectory generation and control for quadrotors. In Proceedings of the IEEE international conference on robotics and automation (pp. 2520-2525). Shanghai, China.
23. Mellinger, D.; Michael, N.; Kumar, V. (2010). Trajectory generation and control for precise aggressive maneuvers. In International symposium on experimental robotics. Boca Raton, FL: CRC Press.
24. Mellinger, D.; Kushleyev, A.; Kumar, V. (2012). Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams. In IEEE international conference on robotics and automation (pp. 477-483). Saint Paul, MN.
25. Michael, N.; Kumar, V. (2011). Control of ensembles of aerial robots. Proceedings of the IEEE, 99(9), 1587-1602.
26. Mulgaonkar, Y. (2012). Automated recharging for persistence missions with multiple micro aerial vehicles. Master's thesis, University of Pennsylvania.
27. Parrish, J.; Hamner, W. (1997). Animal groups in three dimensions. New York: Cambridge University Press.
28. Pines, D.; Bohorquez, F. (2006). Challenges facing future micro air vehicle development. AIAA Journal of Aircraft, 43(2), 290-305.
29. Powers, C.; Mellinger, D.; Kushleyev, A.; Kothmann, B.; Kumar, V. (2012). Influence of aerodynamics and proximity effects in quadrotor flight. In Proceedings of the international symposium on experimental robotics. Singapore.
30. Schouwenaars, T.; DeMoor, B.; Feron, E.; How, J. (2001). Mixed integer programming for multi-vehicle path planning. In European control conference (pp 2603-2608). Porto, Portugal.
31. Schouwenaars, T.; Stubbs, A.; Paduano, J.; Feron, E. (2006). Multi-vehicle path planning for non-line of sight communication. In American Control Conference.
32. Shen, S.; Michael, N.; Kumar, V. (2011). Autonomous multi-floor indoor navigation with a computationally constrained MAV. In Proceedings of the IEEE international conference on robotics and automation (pp. 20-25). Shanghai, China.
33. Tanner, H.; Jadbabaie, A.; Pappas, G. J. (2007). Flocking in fixed and switching networks. IEEE Transactions on Automatic Control, 52(5), 863-868.
34. Valenti, M.; Bethke, B.; Fiore, G.; How, J.; Feron, E. (2006). Indoor multi-vehicle flight testbed for fault detection, isolation, and recovery. In AIAA guidance, navigation, and control conference and exhibit, American Institute of Aeronautics and Astronautics, Guidance, Navigation, and Control and co-located conferences. doi: 10.2514/6.2006-6200.
35. van den Berg, J.; Guy, S. J.; Lin, M.; Manocha, D. (2011). Reciprocal n-body collision avoidance. In C. Pradalier, R. Siegwart, & G. Hirzinger (Eds.), Robotics research (pp. 3-19). Springer.
36. Vicon Motion Systems, Inc. (2012). http://www.vicon.com. Accessed Oct 2012.
37. Wolowicz, C. H.; Bowman, J. S.; Gilbert, W. P. (1979). Similitude requirements and scaling relationships as applied to model testing. Technical report. Washington, DC: NASA.