Geometric tracking control of a quadrotor UAV on SE(3)

Lee, Taeyoung; Leoky, Melvin; McClamroch, N. Harris

doi:10.1109/cdc.2010.5717652

Cited by 1,074 publications

(962 citation statements)

References 20 publications

(30 reference statements)

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“…In each step of the optimization, the new shape of the swarm encoded into the optimization vector is used as an input to a motion planning approach, which generates collision-free trajectories connecting the desired positions with the actual state for each single MAV. The given plan is realized in a simulation using the trajectory tracking mechanism [57] with the MAV model introduced in Section IV. The simulation is run until the desired positions are reached or a violation of the swarm constraints is detected.…”

Section: B Scenariomentioning

confidence: 99%

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

et al. 2016

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Abstract-A complex system for control of swarms of Micro Aerial Vehicles (MAV), in literature also called as Unmanned Aerial Vehicles (UAV) or Unmanned Aerial Systems (UAS), stabilized via an onboard visual relative localization is described in this paper. The main purpose of this work is to verify the possibility of self-stabilization of multi-MAV groups without an external global positioning system. This approach enables the deployment of MAV swarms outside laboratory conditions, and it may be considered an enabling technique for utilizing fleets of MAVs in real-world scenarios. The proposed visualbased stabilization approach has been designed for numerous different multi-UAV robotic applications (leader-follower UAV formation stabilization, UAV swarm stabilization and deployment in surveillance scenarios, cooperative UAV sensory measurement) in this paper. Deployment of the system in real-world scenarios truthfully verifies its operational constraints, given by limited onboard sensing suites and processing capabilities. The performance of the presented approach (MAV control, motion planning, MAV stabilization, and trajectory planning) in multi-MAV applications has been validated by experimental results in indoor as well as in challenging outdoor environments (e.g., in windy conditions and in a former pit mine).

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Section: B Scenariomentioning

confidence: 99%

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

et al. 2016

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“…with Ψ(R, R des ) = 1 2 tr I − R T des R (for properties, see [22]) and c 2 a positive scalar. Also, recall that I is the inertial tensor.…”

Section: B Image Features In a Fixed-orientation Virtual Framementioning

confidence: 99%

“…However, with backstepping, it is necessary to assume that the inner control loops are significantly faster than the outer ones. Furthermore, it is possible to design controllers for quadrotor MAVs which do not require these assumptions and can guarantee convergence from almost any point on SE(3), the Euclidean motion group [22].…”

Section: Introductionmentioning

confidence: 99%

Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects

Thomas

Loianno

Daniilidis

et al. 2016

IEEE Robot. Autom. Lett.

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This paper addresses vision-based localization and servoing for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera. We focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot relative to cylinders with unknown orientations. We first develop a geometric model that describes the pose of the robot relative to a cylinder. Then, we derive the dynamics of the system, expressed in terms of the image features. Based on the dynamics, we present a controller which guarantees asymptotic convergence to the desired image space coordinates. Finally, we develop an effective method to plan dynamically-feasible trajectories in the image space, and we provide experimental results to demonstrate the proposed method under different operating conditions such as hovering, trajectory tracking, and perching. Abstract-This paper addresses vision-based localization and servoing for quadrotors to enable autonomous perching by hanging from cylindrical structures using only a monocular camera. We focus on the problems of relative pose estimation, control, and trajectory planning for maneuvering a robot relative to cylinders with unknown orientations. We first develop a geometric model that describes the pose of the robot relative to a cylinder. Then, we derive the dynamics of the system, expressed in terms of the image features. Based on the dynamics, we present a controller which guarantees asymptotic convergence to the desired image space coordinates. Finally, we develop an effective method to plan dynamically-feasible trajectories in the image space, and we provide experimental results to demonstrate the proposed method under different operating conditions such as hovering, trajectory tracking, and perching.

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“…As typically done, we neglect the dynamics of the propeller actuation and consider the generated thrusts as the actual control inputs for control design. As for the control scheme itself, we chose to employ a geometric tracking technique similar to the one presented in [6] because of its almost global convergence and excellent tracking capabilities.…”

Section: Modeling and Controlmentioning

confidence: 99%

An Open-Source Hardware/Software Architecture for Quadrotor UAVs

Spica

Giordano

Ryll

et al. 2013

IFAC Proceedings Volumes

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In this paper, we illustrate an open-source ready-to-use hardware/software architecture for a quadrotor UAV. The presented platform is price effective, highly customizable, and easily exploitable by other researchers involved in high-level UAV control tasks and for educational purposes as well. The use of object-oriented programming and full support of Robot Operating System (ROS) and Matlab Simulink allows for an efficient customization, code reuse, functionality expansion and rapid prototyping of new algorithms. We provide an extensive illustration of the various UAV components and a thorough description of the main basic algorithms and calibration procedures. Finally, we present some experimental case studies aimed at showing the effectiveness of the proposed architecture.

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Geometric tracking control of a quadrotor UAV on SE(3)

Cited by 1,074 publications

References 20 publications

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

System for deployment of groups of unmanned micro aerial vehicles in GPS-denied environments using onboard visual relative localization

Visual Servoing of Quadrotors for Perching by Hanging From Cylindrical Objects

An Open-Source Hardware/Software Architecture for Quadrotor UAVs

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