We have built a virtual-reality simulator to design quadrotor robots that increase the independence of elderly persons living alone. The simulator lets us measure under what conditions a robot makes someone feel intrigued, or alarmed, or unconcerned, extending to nonhumanoids the studies of emotion that have been done for robots with facial expressions. This better model of how the virtual robo...

Some of the most interesting recent research in quadrotor flight is related to fully autonomous systems, i.e. only using onboard processing and sensing. Many researchers have demonstrated different aspects needed for autonomy and within the last couple of years some have even demonstrated fully autonomous flight. [1], [2] One of the biggest challenges is finding powerful lightweight mobile proc...

This paper proposes an image-based visual servo (IBVS) controller for the 3D translational motion of the quadrotor unmanned aerial vehicle (UAV). The main purpose of this paper is to provide asymptotic stability for vision-based tracking control of the quadrotor in the presence of uncertainty in the dynamic model of the system. The aim of the paper also includes the use of flow of image feature...

We present the vision-based estimation and control of a quadrotor vehicle using a single camera relative to a novel target that incorporates the use of moiré patterns. The objective is to acquire the six degree of freedom estimation that is essential for the operation of vehicles in close proximity to other craft and landing platforms. A target contains markers to determine its relative orienta...

Abstract: For a quadrotor, one can identify the two well-known inherent rotorcraft characteristics: underactuation and strong coupling in pitch-yaw-roll. To confront these problems and design a station-keeping and tracking controller, dynamic inversion is used. Typical applications of dynamic inversion require the selection of the output control variables to render the internal dynamics stable....

We present a 25 g nano-quadrotor equipped with a micro PAL-camera and wireless video transmitter, with which we demonstrate autonomous hovering and figure flying using a visual-inertial SLAM system running on a ground-based laptop. To our knowledge this is the lightest quadrotor capable of visual-inertial navigation with off-board processing. Further we show autonomous flight with external pose...

In this paper an adaptive robust control scheme along with its simulation on quadrotor is presented to deal with payload variation and unknown disturbance. Parametric and nonparametric uncertainties in the quadrotor model always make it difficult to design a controller to meet the performance requirement in various conditions during flight time. Adaptive robust backstepping (ARB) control, which...

n this paper, to overcome the problem of hovering a quadrotor system, under aerodynamic effects, an optimal recursive backstepping controller is designed. One of the main achievements of this study is to propose a nonlinear efficient observer based on extended kalman bucy filter (EKBF) to estimate the unmeasured states of the system. Our control method is robust against perturbations and ensure...

This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation data. Based on an attached inertia measurement unit, a sonar and an optic-flow sensor, the state vector is estimated using sensor fusion algorithms. A novel switching model predictive controller is designed in order to achieve precise trajectory control, under ...