Name
Title | ||
|---|---|---|
The Distributed Flight Array: Design, implementation, and analysis of a modular vertical take-off and landing vehicle |
Abstract | ||
|---|---|---|
We describe the design and implementation of a modular vertical take-off and landing vehicle, which can be assembled and flown in an unlimited number of arbitrary configurations. This vehicle is intended to be used as a testbed for evaluating distributed estimation and control algorithms. We present the custom hardware, dynamics model, method of state estimation, and a parameterized control strategy capable of controlling any flight-feasible configuration of the vehicle. In terms of the control strategy, we describe a method for optimizing its parameters in order to achieve the best possible performance subject to the system's physical constraints. We then show a straightforward method of mapping the configuration space of our vehicle to the control parameter space. Experimental results are included, demonstrating flight for a variety of configurations both indoors and outdoors. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1177/0278364913501212 | I. J. Robotic Res. |
Keywords | Field | DocType |
Aerial robotics,mobile and distributed robotics,cellular and modular robots,networked robots,control architectures and programming | Control algorithm,Parameterized complexity,Custom hardware,Simulation,Testbed,Control engineering,Vertical take off and landing,Parameter space,Modular design,Engineering,Configuration space | Journal |
Volume | Issue | ISSN |
33 | 3 | 0278-3649 |
Citations | PageRank | References |
9 | 0.55 | 27 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Raymond Oung | 1 | 36 | 4.11 |
| Raffaello D'andrea | 2 | 1592 | 162.96 |