Stanford testbed of autonomous rotorcraft for multi-agent control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Performance benchmarking of quadrotor systems using time-optimal control
Autonomous Robots
Opportunities and challenges with autonomous micro aerial vehicles
International Journal of Robotics Research
A Quadrotor Test Bench for Six Degree of Freedom Flight
Journal of Intelligent and Robotic Systems
The modeling and implementation of tri-rotor flying robot
Artificial Life and Robotics
Comprehensive simulation of quadrotor UAVs using ROS and gazebo
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Towards a swarm of agile micro quadrotors
Autonomous Robots
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Quadrotor helicopters have become increasingly important in recent years as platforms for both research and commercial unmanned aerial vehicle applications. This paper extends previous work on several important aerodynamic effects impacting quadrotor flight in regimes beyond nominal hover conditions. The implications of these effects on quadrotor performance are investigated and control techniques are presented that compensate for them accordingly. The analysis and control systems are validated on the Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control quadrotor helicopter testbed by performing the quadrotor equivalent of the stall turn aerobatic maneuver. Flight results demonstrate the accuracy of the aerodynamic models and improved control performance with the proposed control schemes.