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Dynamic System Identification, and Control for a cost effective open-source VTOL MAV [article]

Inkyu Sa, Mina Kamel, Raghav Khanna, Marija Popovic, Juan Nieto, Roland Siegwart
2017 arXiv   pre-print
The dynamics of the vehicle and autopilot controllers are identified using only a built-in IMU and utilized to design a subsequent model predictive controller (MPC).  ...  This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100.  ...  In this study, they demonstrated accurate estimation of moments of inertia, the center of gravity in IMU frame, and aerodynamics parameters such as rotor thrust, rotor moment, and drag coefficients.  ... 
arXiv:1701.08623v2 fatcat:2g3vycqvtbfwddaf7vgy6mtgca

Flight Controller Synthesis Via Deep Reinforcement Learning [article]

William Koch
2019 arXiv   pre-print
This stack consists of the methodology for constructing a multicopter digital twin for synthesize the flight controller unique to a specific aircraft, a tuning framework for implementing training environments  ...  This thesis reports on the development and release of an open source, full solution stack for building neuro-flight controllers.  ...  In (Palossi et al., 2019) the authors present an impressive vision based navigation system using an RL controller for the Crazyflie quadcopter.  ... 
arXiv:1909.06493v1 fatcat:bg3es6bonbbr5ehrxpniyqj3x4

2021 International Conference on Unmanned Aircraft Systems - Final program

2021 2021 International Conference on Unmanned Aircraft Systems (ICUAS)  
On behalf of the ICUAS Association Inc., and in my capacity as the President of the Association, it is a privilege, a great pleasure and an honor to welcome you to the 2021 International Conference on  ...  This is the second time we have the honor to host ICUAS in Europe. The conference is organized in Athens, Greece. Athens is a magnificent location for such an international event like the 2021 ICUAS.  ...  This paper presents the integrated use of multiple cameras to detect, track and localize multiple moving objects, especially drones, in real-time by computer vision.  ... 
doi:10.1109/icuas51884.2021.9476682 fatcat:crdrcczqlbaebncnd76b47hfsu

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.  ...  Personal use of this material is permitted.  ...  ACKNOWLEDGMENTS The authors thank the valuable assistance of João Rodrigues in the development of the work reported in this paper.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Downloadable Full Issue

2020 Hungarian Journal of Industry and Chemistry  
In order to describe the dynamical properties of the system, time constants were measured at different speeds and magnetic inductions.  ...  The measurement of susceptibility is based on the determination of the change in frequency of a low-intensity field, which is generated by an LC oscillator.  ...  We would like to thank Zoltán Lukács and Tamás Kristóf to support conducting EIS measurements in the laboratory of Faculty of Physical Chemistry and sharing their knowledge in electrochemical modeling.  ... 
doi:10.33927/931 fatcat:pgjn46w74vb5djx3koev7lnsty

Recent advances in mechatronics

Okyay Kaynak
1996 Robotics and Autonomous Systems  
The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or  ...  Four years has since then passed and in order to discuss the most recent advances, it has been decided to hold another similar conference during 24-  ...  The work was supported in part by the Asahi Glass Foundation, and by the Ministry of Education, Science and Culture under Grant-in-Aid for Developmental Scientific Research.  ... 
doi:10.1016/s0921-8890(96)00039-5 fatcat:l5fd4hwa2rbu3l6f2jucyj2fxy

Vision-Based Control of Unmanned Aerial Vehicles for Automated Structural Monitoring and Geo-Structural Analysis of Civil Infrastructure Systems [article]

Hao Zhou, University, My
2021
To date, the majority of the existing monitoring systems, including those based on wireless sensors, are stationary with measurement nodes installed without an intention for relocation later.  ...  A vision-aided UAV positioning algorithm is first introduced to augment traditional inertial sensing techniques to enhance the ability of UAVs to accurately localize themselves in a civil infrastructure  ...  for precision landing and fine tuning of the PID control parameters for precision control of the UAV.  ... 
doi:10.7302/3025 fatcat:i4lkbb5bdraxha24an4evmfv5a

Design, construction and control of a large quadrotor micro air vehicle [article]

Paul Edward Ian Pounds, University, The Australian National, University, The Australian National
2018
Section 5.3 provides a derived plant model based on measured flyer parameters, and analyses the effect of parameter model envelope.  ...  The model identified included a 0.02 second time delay in the system; this is attributed to the influence of fast dynamic effects and processor transport delay.  ...  Also included is the yaw derivative due to flapping, unique to tandem and quad-rotor helicopters. It is given that all blade feathering derivatives are zero.  ... 
doi:10.25911/5d651066ac8bd fatcat:hdkncqtixnbf7b3frpytvr4v6a

Distributed system for domestic robot operation using computer vision

Marcel-Titus Marginean
2016
So far Computer Vision (CV) seems to be the most promising technology to allow robot navigation in domestic environments, therefore a large part of the works is focusing on the aspects of using CV for  ...  While the first applications, like vacuum-cleaners or toys, do not share much of the versatility of the robotic servants envisioned in literature and movies, it is just a matter of time before more useful  ...  Marius Zimand for his guidance in navigation of the processes and procedures.  ... 
doi:10.13016/m2sc0k fatcat:iu3atig4lvagzoszxqse7eup64

Relative Navigation of Micro Air Vehicles in GPS-Degraded Environments Relative Navigation of Micro Air Vehicles in GPS-Degraded Environments

David Wheeler, David Wheeler, Randal Beard, Timothy Mclain, Cameron Peterson, Marc Killpack, Jye Lee, David Wheeler
unpublished
The system is shown to utilize a variety of vision sensors, work indoors and outdoors, run in real-time with onboard processing, and not require special tuning for particular sensors or environments.  ...  This dissertation explores how the consistency, accuracy, and stability of current navigation approaches degrade during prolonged GPS dropout and in the presence of heading uncertainty.  ...  the time stamp of the incoming delayed measurement.  ... 
fatcat:e4wcxecr4bcutjilwu4auqhm3u