---
abstract: |-
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.
altloc:
- http://privatewww.essex.ac.uk/~rdenar/DeNardi2006UltraswarmFurther.pdf
chapter: ~
commentary: ~
commref: ~
confdates: September/October 2006
conference: 'Swarm Robotics, Second International Workshop, SAB 2006'
confloc: Rome
contact_email: ~
creators_id: []
creators_name:
- family: De nardi
given: Renzo
honourific: ''
lineage: ''
- family: Holland
given: Owen
honourific: ''
lineage: ''
date: 2006
date_type: published
datestamp: 2007-05-28
department: ~
dir: disk0/00/00/55/71
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name:
- family: Sahin
given: Erol
honourific: ''
lineage: ''
- family: Spears
given: William M.
honourific: ''
lineage: ''
- family: Winfield
given: Alan F. T.
honourific: ''
lineage: ''
eprint_status: archive
eprintid: 5571
fileinfo: /style/images/fileicons/application_pdf.png;/5571/1/DeNardi2006UltraswarmFurther.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: 'Miniature helicopter, Swarm intelligence, Neural Network, Evolution'
lastmod: 2011-03-11 08:56:51
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: LNCS 4
pagerange: 116-128
pubdom: FALSE
publication: ~
publisher: Springer
refereed: TRUE
referencetext: |
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Tanner, H., Jadbabaie, A., Pappas, G.: Stable flocking of mobile agents. part II: Dynamic topology. In: Proceedings of the 42nd IEEE Conference on Decision and Control. (2003) 2016–2021
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A., eds.: Swarm Robotics Workshop (SAB06). Lecture Notes in Computer Science (2006)
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Gavrilets, V.: Autonomous Aerobatic Manouvering of Miniature. PhD thesis, Massachusetts Institute of Technology (2003)
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relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 17:10:44
subjects:
- comp-sci-robot
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: "UltraSwarm: A Further Step Towards a Flock of Miniature Helicopters\n"
type: confpaper
userid: 7072
volume: 'Swarm '