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Modelling, Control and Planning for a Shape-Shifting Quadrotor
The majority of the quadrotors available on the market rely on a fixed mechanical structure, which cannot be changed while flying. The goal of this project is to enable quadrotors to change their morphology while they are airborne, guaranteeing stability during the entire flight.
Keywords: quadrotors, control, planning, drones
Recent works have demonstrated that micro quadrotors are extremely agile and versatile vehicles, able to execute very complex maneuvers. However, the majority of the quadrotors available on the market rely on a fixed mechanical structure, which cannot be changed while flying. The goal of this project is to enable quadrotors to change their morphology while they are airborne, guaranteeing stability during the entire flight, including the switching phase. More specifically, we are interested in quadrotors able to rotate their arms in order to obtain a configuration of the actuation system that best fits the task the vehicle has to execute. For example, is some applications it might be required that the vehicle spans the smallest volume possible, while in others performances might have higher priority.
In this project, the student will have to: (i) derive a dynamical model a quadrotor with switching morphology; (ii) design a feedback controller able to stabilize independently on the current configuration, also during the switching phase; (iii) exploit the aforementioned model to plan trajectories that fulfill the system dynamics. The results will be validated in simulation first, and in a second stage on a real quadrotor platform.
Recent works have demonstrated that micro quadrotors are extremely agile and versatile vehicles, able to execute very complex maneuvers. However, the majority of the quadrotors available on the market rely on a fixed mechanical structure, which cannot be changed while flying. The goal of this project is to enable quadrotors to change their morphology while they are airborne, guaranteeing stability during the entire flight, including the switching phase. More specifically, we are interested in quadrotors able to rotate their arms in order to obtain a configuration of the actuation system that best fits the task the vehicle has to execute. For example, is some applications it might be required that the vehicle spans the smallest volume possible, while in others performances might have higher priority.
In this project, the student will have to: (i) derive a dynamical model a quadrotor with switching morphology; (ii) design a feedback controller able to stabilize independently on the current configuration, also during the switching phase; (iii) exploit the aforementioned model to plan trajectories that fulfill the system dynamics. The results will be validated in simulation first, and in a second stage on a real quadrotor platform.
This projects aim at studying the behavior of a quadrotor able to change its morphology while flying. More specifically, the goal is to derive a mathematical model capturing its dynamics and design a control law able to stabilize it.
This projects aim at studying the behavior of a quadrotor able to change its morphology while flying. More specifically, the goal is to derive a mathematical model capturing its dynamics and design a control law able to stabilize it.
Davide Falanga (falanga@ifi.uzh.ch), Suseong Kim (suseong@ifi.uzh.ch)
Davide Falanga (falanga@ifi.uzh.ch), Suseong Kim (suseong@ifi.uzh.ch)