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Environment-independent Formation Flight For Micro Aerial Vehicles

Author(s):

Tobias Nägeli
Conference/Journal:

Master Thesis, HS12 (10202)
Abstract:

Formation ights of Micro Aerial Vehicles (MAV) have been demonstrated by various groups using either high-precision infrared motion capturing systems (VICON) for indoor ight, or using GPS measurements for outdoor ight with large inter-agent distances. In this master thesis, an environment-independent approach to autonomous MAV formation ight is presented. The presented control algorithm is of distributed nature, and due to redundant measurements robust against occlusion and message drops. The use of an on-board vision system for relative measurements makes it possible to y inand outdoors in formations with an agent-to-agent distance of only four times the radius of the MAV. In the thesis a proof-of-concept solution is presented, implemented and tested. 5

Year:

2013
Type of Publication:

(12)Diploma/Master Thesis
Supervisor:

C. Conte

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2013:IFA_4459
}
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