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

被引：143

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

页码：41 / 54

页数：14

共 33 条

[21]

Mueller FL, 2012, IEEE INT C INT ROBOT, P3278

[22]

Mueller MW, 2012, IEEE INT C INT ROBOT, P780, DOI 10.1109/IROS.2012.6385910

[23]

Muller Mark, 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), P5113, DOI 10.1109/IROS.2011.6048148

[24] The Distributed Flight Array [J].

Oung, Raymond ;

D'Andrea, Raffaello .

MECHATRONICS, 2011, 21 (06) :908-917

[25] Extended Kalman filtering for battery management systems of LiPB-based HEV battery packs - Part 1. Background [J].

Plett, GL .

JOURNAL OF POWER SOURCES, 2004, 134 (02) :252-261

[26]

Ritz R, 2012, IEEE INT C INT ROBOT, P4972, DOI 10.1109/IROS.2012.6385963

[27]

Schoellig A.P., 2010, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)- Workshop on Robots and Musical Expressions, P1

[28]

Sherback M, 2006, LECT NOTES CONTR INF, V335, P245, DOI 10.1007/978-1-84628-405-2_16

[29] Competitions, Challenges, or Journal Papers? [J].

Smart, Bill .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2012, 19 (01) :14-14

[30] Multivehicle systems control over networks [J].

Stubbs, Andrew ;

Vladimerou, Vladimeros ;

Fulford, Adam Thomas ;

King, Derek ;

Strick, Jeffrey ;

Dullerud, Geir E. .

IEEE CONTROL SYSTEMS MAGAZINE, 2006, 26 (03) :56-69

← 1 2 3 4 →