Design and Control of an Outdoor Autonomous Quadrotor powered by a four strokes RC engine

In this paper we describe the mechanical design, dynamic modelling, sensing an hardware control architecture of our quadrotor prototype. The prototype is designed as an outdoor autonomous experimental robotics platform. Our designs approach differs from most, as we use a single RC four stoke engine and a distributed architecture for the hardware and the software. Our quadrotor prototype is equipped with protoceptive sensing devices for low level control and exteroceptive sensing devices for high level user interface control