Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 33, Issue 3, Pages 375-400Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364913501212
Keywords
networked robots; cellular and modular robots; Aerial robotics; control architectures and programming; mobile and distributed robotics
Categories
Funding
- Swiss National Science Foundation (SNSF) [127020]
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We describe the design and implementation of a modular vertical take-off and landing vehicle, which can be assembled and flown in an unlimited number of arbitrary configurations. This vehicle is intended to be used as a testbed for evaluating distributed estimation and control algorithms. We present the custom hardware, dynamics model, method of state estimation, and a parameterized control strategy capable of controlling any flight-feasible configuration of the vehicle. In terms of the control strategy, we describe a method for optimizing its parameters in order to achieve the best possible performance subject to the system's physical constraints. We then show a straightforward method of mapping the configuration space of our vehicle to the control parameter space. Experimental results are included, demonstrating flight for a variety of configurations both indoors and outdoors.
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