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Dynamics, modeling, simulation and control of mid-flight coupling of quadrotors

Description

Unmanned aerial vehicles have received increased attention in the last decade due to their versatility, as well as the availability of inexpensive sensors (e.g. GPS, IMU) for their navigation and control. Multirotor vehicles, specifically quadrotors, have formed a fast growing field in robotics, with the range of applications spanning from…

Unmanned aerial vehicles have received increased attention in the last decade due to their versatility, as well as the availability of inexpensive sensors (e.g. GPS, IMU) for their navigation and control. Multirotor vehicles, specifically quadrotors, have formed a fast growing field in robotics, with the range of applications spanning from surveil- lance and reconnaissance to agriculture and large area mapping. Although in most applications single quadrotors are used, there is an increasing interest in architectures controlling multiple quadrotors executing a collaborative task. This thesis introduces a new concept of control involving more than one quadrotors, according to which two quadrotors can be physically coupled in mid-flight. This concept equips the quadro- tors with new capabilities, e.g. increased payload or pursuit and capturing of other quadrotors. A comprehensive simulation of the approach is built to simulate coupled quadrotors. The dynamics and modeling of the coupled system is presented together with a discussion regarding the coupling mechanism, impact modeling and additional considerations that have been investigated. Simulation results are presented for cases of static coupling as well as enemy quadrotor pursuit and capture, together with an analysis of control methodology and gain tuning. Practical implementations are introduced as results show the feasibility of this design.

ContributorsLarsson, Daniel (Author) / Artemiadis, Panagiotis (Thesis advisor) / Marvi, Hamidreza (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)

Created2016

Author's Gift Inscription in "The Illini: A Story of the Prairies"

Description

Edition includes a gift inscription from author Clark E. Carr, "Presented to my friend Hon. WB. Brinton with my sincere regards. Clark Elarr. Christmas 1905."

ContributorsCarr, Clark Ezra (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Gift Inscription in "Minions of the Moon: A Little Book of Song and Story"

Description

This edition includes a gift inscription possibly penned by the author, Madison Julius Cawein, "Frank on Valentines Day, 1914. M.J." Madison Julius Cawein (1865-1914).

ContributorsCawein, Madison Julius (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Author's Inscription in "The Poet Scout: A Book of Song and Story"

Description

This edition includes an author's inscription written in two different pen colors, "J. W. Crawford aft Jack to Rev. W. O. Cornman."

ContributorsCrawford, Jack (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Author's Inscription in "That Lass O' Lowries"

Description

Edition includes author's gift inscription, "From Fannie".

ContributorsBurnett, Frances Hodgson (Author) / Fredericks, Alfred (Illustrator) / Zarka, Emily (Contributor)

Created2017-04-19

Author Inscription in "Homeric Scenes: Hector's Farewell and the Wrath of Achilles"

Description

This edition has a gift inscription by author John Jay Chapman, "Miss Goodale from John Jay Chapman Merry Xmas 1914."

ContributorsChapman, John Jay (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Author Inscription in "The Chinese Slave-Girl: A Story of Woman's Life in China"

Description

This edition includes a gift inscription by author Rev. J.A. Davis, "To Rev. A. G. Russell with the warmest regards of the author J.A. Davis."

ContributorsDavis, John Agnell (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Author's Inscription in "The Prisoner"

Description

This edition includes an author's inscription, "Very true and faithful Alice Brown. June 25, 1916."

ContributorsBrown, Alice (Author) / Redfield, Martin (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Author Inscription in "Fairy Gold, Poems"

Description

This edition includes author Katharine Lee Bates' gift inscription, "This grave work is presented, at request, to Mildred C. Smith, president of the Wellerby Graduate Club, with Christmas Love from K.L.B. 1916."

ContributorsBates, Katharine Lee (Author) / Zarka, Emily (Contributor)

Created2017-04-19

Author's Inscription in "Nice Distinctions: A Tale"

Description

This edition includes the author's inscription, "With the Authoress's best regards." A second hand writes "S. Huband."

ContributorsVane, Frances Anne, Marchioness of Londonderry (Author) / Looser, Devoney (Project director)

Created2017-04-16