Position control of a quadrotor MAV while compensating for discrete jumps in the pose estimate

The trajectory tracking efficiency of a quadrotor Micro Aerial Vehicle (MAV) position controller is decreased by discrete jumps in the pose estimate provided by a localization algorithm. This paper presents a solution to this problem by first introducing a new quadrotor MAV position control architecture followed by two methods that can...

Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments

Safe navigation in unknown environments is a challenging task for autonomous Micro Aerial Vehicle (MAV) systems. Previous works generally avoid obstacles by assuming that the environment is static. The purpose of this thesis work is to develop a MAV system that can navigate autonomously and safely in dynamic environments. We present an onboard...

Online Trajectory Planning and Control of a MAV Payload System in Dynamic Environments: A Non-Linear Model Predictive Control Approach

Micro Aerial Vehicles (MAVs) are increasingly being used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches to MAV swung payload system path planning have primarily focused on pre-generating (agile) collision-free, or conservative...

Identification of time-varying models for flapping-wing micro aerial vehicles

The demand for always smaller, more manoeuvrable and versatile unmanned aerial vehicles cannot be met with conventional manned flight approaches. This has led engineers to seek inspiration in nature, giving rise to the bio-inspired flapping-wing micro aerial vehicle (FWMAV). FWMAVs achieve a remarkable flight performance at small scales, however...

Model identification of a flapping wing micro aerial vehicle

Different flapping wing micro aerial vehicles (FWMAV) have been developed for academic (Harvard’s RoboBee), military (Israel Aerospace Industries’ Butterfly) and technology demonstration (Aerovironment’s NanoHummingBird) purposes. Among these, theDelFly II is recognized as one of themost successful configurations of FWMAV, with a broad flight...