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Towards Intelligent Miniature Flying Robots

  • Samir Bouabdallah
  • Roland Siegwart
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 25)

Summary

This paper presents a practical method for small-scale VTOL3 design. It helps for elements selection and dimensioning. We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achieving 100% thrust margin for 30 min autonomy. The robot is capable of rotational and translational motion estimation. Finally, we derive a nonlinear dynamics simulation model, perform a simulation with a PD test controller and test successfully the robot in a real flight. We are confident that “OS4” is a significant progress towards intelligent miniature quadrotors.

Keywords

VTOL design quadrotor quadrotor modelling 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Samir Bouabdallah
    • 1
  • Roland Siegwart
    • 1
  1. 1.Autonomous Systems Lab, EPFLSwitzerland

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