A platform for aerial robotics research and demonstration: The Flying Machine Arena

被引：133
作者：
Lupashin, Sergei [1 ]
Hehn, Markus [1 ]
Mueller, Mark W. [1 ]
Schoellig, Angela P. [1 ]
Sherback, Michael [1 ]
D'Andrea, Raffaello [1 ]
机构：
[1] Swiss Fed Inst Technol, Inst Dynam Syst & Control, ZH-8092 Zurich, Switzerland
来源：
MECHATRONICS | 2014年 / 24卷 / 01期
基金：
瑞士国家科学基金会;
关键词：
Aerial robotics; Quadrocopters; Robotics testbeds; Networked control systems; MANEUVERS; SYSTEMS;
D O I：
10.1016/j.mechatronics.2013.11.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Flying Machine Arena is a platform for experiments and demonstrations with fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust communication layers. An estimation and control framework along with built-in system protection components enable prototyping of new control systems concepts and implementation of novel demonstrations. More recently, a mobile version has been featured at several eminent public events. We describe the architecture of the Arena from the viewpoint of system robustness and its capability as a dual-purpose research and demonstration platform. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：41 / 54
页数：14
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