Academic year 2014/15

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 12, 2014       End:  Thursday, December 18, 2014

Final schedule/rooms:      

Mon 10:15-11:45, Wed 15:45-17:15, A6, Thu 15:45-17:15, A4

Material for this module

1. Quadrotor modeling (slides)
2. The AscTec HummingBird quadrotor (slides)
3. Control via dynamic feedback linearization (slides)
4. Geometric tracking control on SO(3) (slides)
5. State estimation (slides)
6. Visual Hovering (slides1, slides2)
7. Monocular Visual Odometry (slides, videos: PTAM, PTAMM, Gazebo simulation)

Research projects/groups of interest (a partial list of)
Robust Robotics Group at MIT
The Flying Machine Arena
Autonomous mini-UAVs
Robotics and Perception Group at the University of Zurich
Vijay Kumar Lab
SHERPA
ARCAS
The STARMAC testbed

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

Tuesday 14:00-15:00, room A213, via Ariosto 25.
I WILL NOT BE IN MY OFFICE ON TUESDAY, JANUARY 13. Send me an e-mail to arrange an appointment.

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 3, 2014