Stanford testbed of autonomous rotorcraft for multi-agent control

Authors:
Gabriel M. Hoffmann;Steven L. Waslander;Michael P. Vitus;Haomiao Huang;Jeremy Gillula;Vijay Pradeep;Claire J. Tomlin
Affiliations:
Palo Alto Research Center;Department of Mechanical and Mechatronics Engineering, University of Waterloo;Department of Aeronautics and Astronautics, Stanford University;Department of Aeronautics and Astronautics, Stanford University;Department of Computer Science, Stanford University;Willow Garage;Electrical Engineering and Computer Sciences, University of California at Berkeley
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 1
Cited 2

Aerodynamics and control of autonomous quadrotor helicopters in aggressive maneuvering

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation

Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems

Journal of Field Robotics
Control and Navigation Framework for Quadrotor Helicopters

Journal of Intelligent and Robotic Systems

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Abstract

The Stanford Testbed of Autonomous Rotorcraft for Multi-Agent Control, a fleet of quadrotor helicopters, has been developed as a testbed for novel algorithms that enable autonomous operation of aerial vehicles. The testbed has been used to validate multiple algorithms such as reactive collision avoidance, collision avoidance through Nash Bargaining, path planning, cooperative search and aggressive maneuvering. This article briefly describes the algorithms presented and provides references for a more in-depth formulation, and the accompanying movie shows the demonstration of the algorithms on the testbed.