Multi-sensory motion estimation and control of a mini-quadrotor in an air-ground multi-robot system

Tianguang Zhang, Wei Li, Markus Achtelik, Kolja Kuhnlenz, Martin Buss
2009 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
An air-ground multi-robot system is designed for the purpose of applying bio-inspired sensor-motor modeling on technical systems. It consists of a flying mini-quadrotor equipped with inertial and visual sensors, and a wheeled minirobot equipped with active markers. The system modules, a multi-sensory pose/motion estimation approach and a closedloop control of the flying quadrotor are described in this paper. The quadrotor can hover over the ground robot stably and track the ground robot
more » ... round robot movement. An accurate pose estimation is verified by a comparison between the estimated quadrotor pose and the actual pose during the flight.
doi:10.1109/robio.2009.5420631 dblp:conf/robio/ZhangLAKB09 fatcat:iz5bysoql5h7zgtqqsygtzrlwe