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Design and Control of a Bicopter MAV
Design and control of a UAV using only two rotors, and additional actuation to allow for full position and orientation controllability.
Keywords: MAV Control Design Omnidirectional
Omnidirectional UAVs present numerous advantages over traditional UAVs for aerial interaction and unobstructed observation.
This project aims to develop a UAV using only two rotors, and additional actuation to allow for full position and orientation controllability.
As a semeter thesis, this project would target demonstration of the system in simulation. As a masters thesis, the project would include integration of a real platform and evaluation of real flight performance.
Omnidirectional UAVs present numerous advantages over traditional UAVs for aerial interaction and unobstructed observation.
This project aims to develop a UAV using only two rotors, and additional actuation to allow for full position and orientation controllability.
As a semeter thesis, this project would target demonstration of the system in simulation. As a masters thesis, the project would include integration of a real platform and evaluation of real flight performance.
Work Packages
• Investigate morphology and actuation
• Evaluate controllability
• Design a controller for omnidirectional flight
• Test in simulation and evaluate performance
If masters thesis:
• Build system
• Flight testing and performance evaluation
Work Packages
• Investigate morphology and actuation
• Evaluate controllability
• Design a controller for omnidirectional flight
• Test in simulation and evaluate performance
If masters thesis:
• Build system
• Flight testing and performance evaluation
• c++ coding experience
• Knowledge of ROS recommended
If masters thesis:
• System integration experience
• c++ coding experience
• Knowledge of ROS recommended
If masters thesis:
• System integration experience
Karen Bodie <kbodie@ethz.ch>
Zachary Taylor <ztaylor@ethz.ch>