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