This video presents the state estimation, control, and trajectory planning in cooperative transportation of structures, which are either too heavy or too big to be carried by small micro vehicles. We consider small quadrotors, each equipped only with a single camera and IMU as a sensor. We present a new approach to coordinated control which allows independent control of each vehicle while guaranteeing the system’s stability and a new cooperative localization scheme that allows each vehicle to benefit from measurements acquired by other vehicles. The later is formulated as an optimization problem exploiting the rigid structure information. We reach speeds of over 4.2 m/s, which angular rates close to 300 deg/s and accelerations up to 5 m/s^2.
Welcome to drone day on the Adafruit blog. Every Monday we deliver the latest news, products and more from the Unmanned Aerial Vehicles (UAV), quadcopter and drone communities. Drones can be used for video & photography (dronies), civil applications, policing, farming, firefighting, military and non-military security work, such as surveillance of pipelines. Previous posts can be found via the #drone tag and our drone / UAV categories.