TY  - GEN
ID  - cogprints5571
UR  - http://cogprints.org/5571/
A1  - De nardi, Renzo
A1  - Holland, Owen
Y1  - 2006///
N2  - We describe further progress towards the development of a
MAV (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
modification of the chosen toy helicopter are presented, 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?s state, and this forms the main input to the control system. Since no detailed dynamic model of the helicopter in use is available, a method is proposed for automated system identification, and for subsequent controller design based on artificial evolution. Preliminary results obtained with a dynamic simulator of a helicopter are reported, along with some encouraging results for tackling the problem of flocking.
PB  - Springer
KW  - Miniature helicopter
KW  -  Swarm intelligence
KW  -  Neural Network
KW  -  Evolution
TI  - UltraSwarm: A Further Step Towards a Flock of Miniature Helicopters

SP  - 116
AV  - public
EP  - 128
ER  -

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