DocumentCode
3033004
Title
Design and control of an indoor micro quadrotor
Author
Bouabdallah, Samir ; Murrieri, Pierpaolo ; Siegwart, Roland
Author_Institution
Autonomous Syst. Lab., Swiss Fed. Inst. of Technol., Lausanne, Switzerland
Volume
5
fYear
2004
fDate
26 April-1 May 2004
Firstpage
4393
Abstract
Progresses in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring and building exploration. In this paper we describe the approach that our lab has taken to micro VTOL evolving towards full autonomy, and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.
Keywords
aerospace robotics; microrobots; mobile robots; building exploration; indoor micro quadrotor; micro VTOL system; miniature flying robot; small area monitoring; Actuators; Aircraft navigation; Aircraft propulsion; Biomimetics; Cameras; Helicopters; Laboratories; Military aircraft; Remotely operated vehicles; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1302409
Filename
1302409
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