Related papers: Development of a Low-Cost Experimental Quadcopter …

This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…

Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…

Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tasks, simulators, and implementations hinder systematic…

Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…

Autonomous landing is a capability that is essential to achieve the full potential of multi-rotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and…

Using the properties of differential flatness, a controllable system, such as a quadcoper model, may be transformed into a linear equivalent system via a coordinate change and an input mapping. This is a straightforward advantage for the…

The flight of a quadcopter drone, readily available as a toy, is analyzed using simple physics concepts. A smartphone with built-in accelerometer and gyroscope was attached to the drone to register the accelerations and angular velocities…

Quadcopter trajectory tracking control has been extensively investigated and implemented in the past. Available controls mostly use the Euler angle standards to describe the quadcopters rotational kinematics and dynamics. As a result, the…

Small multi-rotor unmanned aerial vehicles (UAVs), mainly quadcopters, are nowadays ubiquitous in research on aerial autonomy, including serving as scaled-down models for much larger aircraft such as vertical-take-off-and-lift vehicles for…

This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…

Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…

While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…

A quadcopter is an under-actuated system with only four control inputs for six degrees of freedom, and yet the human control of a quadcopter is simple enough to be learned with some practice. In this work, we consider the problem of human…

Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…

Drones are a versatile platform for both amateur and professional photographers, enabling them to capture photos that are impossible to shoot with ground-based cameras. However, when guided by inexperienced pilots, they have a high…

This paper presents QuadSoft, a novel fully actuated quadrotor equipped with continuous-curvature, tendon-driven soft robotic arms. The design combines a semi-rigid central frame with flexible arms, enabling controlled structural…