Academic
year 2012/13
Material
for this module
How
to complete the credits for this module
Registration
to exams
Aims:
This module presents recent results in modeling and control of Unmanned Aerial Vehicles (UAVs) with main emphasis on a quadrotors.
Detailed
contents:
Introduction and illustration of the Hummingbird quadrotor available at
the Robotics Laboratory. Mathematical model of a quadrotor UAV.
Attitude, height and position control. Trajectory generation and
tracking. Sensor-based control.
Prerequisites:
This module has no strict prerequisites.
However, familiarity with basic concepts of automatic control will help.
ECTS credits for this module: 3 credits (out of
12 credits for the whole course).
Lectures for this module
Period: second part of first semester
Begin:
Wednesday, November 21, 2012
End: Thursday, December 20, 2012
Final
schedule/rooms:
Mon 10:15-11:45; Wed, Thu 15:45-17:15, A7
There will be no class on 28 and 29 November and on 17 and 19 December.
Material for this module
1. Quadrotor modeling (slides)(updated)
2. The AscTec HummingBird quadrotor (slides)
3. Control via dynamic feedback linearization (slides)(updated)
4. Geometric tracking control on SO(3) (slides)(new)
5. Visual Hovering (slides1, slides2)
6. Monocular Visual Odometry (slides, videos: PTAM, PTAMM, Gazebo simulation)
Projects
Interesting links
Robust Robotics Group at MIT (Prof. N. Roy)
The Flying Machine Arena (Prof. R. D'andrea)
The STARMAC testbed (Prof. C. Tomlin)
Bilateral teleoperation of multiple UAVs (Dr. P. Robuffo Giordano and Dr. A. Franchi)
How
to complete the credits for this module
Please check the information in the main page of the Elective in
Robotics
course.
Office hours for students
Thursday 14:00-15:30, room A213, via Ariosto 25.
Registration to
exams
Please check the information in the main page of the Elective in
Robotics
course. In order to get the final grade
(for 12 credits), you need to register only
once you have acquired the credits of
all modules.
Last
update: December 24, 2012