?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=UltraSwarm%3A+A+Further+Step+Towards+a+Flock+of+Miniature+Helicopters%0A&rft.creator=De+nardi%2C+Renzo&rft.creator=Holland%2C+Owen&rft.subject=Robotics&rft.description=We+describe+further+progress+towards+the+development+of+a%0AMAV+(micro+aerial+vehicle)+designed+as+an+enabling+tool+to+investigate+aerial+flocking.+Our+research+focuses+on+the+use+of+low+cost+off+the+shelf+vehicles+and+sensors+to+enable+fast+prototyping+and+to+reduce+development+costs.+Details+on+the+design+of+the+embedded+electronics+and+the%0Amodification+of+the+chosen+toy+helicopter+are+presented%2C+and+the+technique+used+for+state+estimation+is+described.+The+fusion+of+inertial+data+through+an+unscented+Kalman+filter+is+used+to+estimate+the+helicopter%E2%80%99s+state%2C+and+this+forms+the+main+input+to+the+control+system.+Since+no+detailed+dynamic+model+of+the+helicopter+in+use+is+available%2C+a+method+is+proposed+for+automated+system+identification%2C+and+for+subsequent+controller+design+based+on+artificial+evolution.+Preliminary+results+obtained+with+a+dynamic+simulator+of+a+helicopter+are+reported%2C+along+with+some+encouraging+results+for+tackling+the+problem+of+flocking.&rft.publisher=Springer&rft.contributor=Sahin%2C+Erol&rft.contributor=Spears%2C+William+M.&rft.contributor=Winfield%2C+Alan+F.+T.&rft.date=2006&rft.type=Conference+Paper&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F5571%2F1%2FDeNardi2006UltraswarmFurther.pdf&rft.identifier=++De+nardi%2C+Renzo+and+Holland%2C+Owen++(2006)+UltraSwarm%3A+A+Further+Step+Towards+a+Flock+of+Miniature+Helicopters.++%5BConference+Paper%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F5571%2F