UCL logo

UCL Discovery

UCL home » Library Services » Electronic resources » UCL Discovery

UltraSwarm: A further step towards a flock of miniature helicopters

De Nardi, R; Holland, O; (2007) UltraSwarm: A further step towards a flock of miniature helicopters. In: Sahin, E and Spears, WM and Winfield, AFT, (eds.) Swarm Robotics. (pp. 116 - 128). SPRINGER-VERLAG BERLIN

Full text not available from this repository.

Abstract

We describe further progress towards the development of a MAV (micro aerial vehicle) designed as an enabling tool to investigate aerial flocking. Our research focuses on the use of low cost off the shelf vehicles and sensors to enable fast prototyping and to reduce development costs. Details on the design of the embedded electronics and the modification of the chosen toy helicopter are presented, and the technique used for state estimation is described. The fusion of inertial data through an unscented Kalman filter is used to estimate the helicopter's state, and this forms the main input to the control system. Since no detailed dynamic model of the helicopter in use is available, a method is proposed for automated system identification, and for subsequent controller design based on artificial evolution. Preliminary results obtained with a dynamic simulator of a helicopter are reported, along with some encouraging results for tackling the problem of flocking.

Type: Proceedings paper
Title: UltraSwarm: A further step towards a flock of miniature helicopters
Event: 2nd SAB International Workshop 2006
Location: Rome, ITALY
Dates: 2006-09-30 - 2006-10-01
ISBN-13: 978-3-540-71540-5
UCL classification: UCL > School of BEAMS > Faculty of Engineering Science
UCL > School of BEAMS > Faculty of Engineering Science > Computer Science
URI: http://discovery.ucl.ac.uk/id/eprint/95484
Downloads since deposit
0Downloads
Download activity - last month
Download activity - last 12 months
Downloads by country - last 12 months

Archive Staff Only

View Item View Item