# High-Speed, Steady Flight with a Quadrocopter in a Confined Environment Using a Tether

Author(s) Schulz, Maximilian, Augugliaro, Federico, Ritz, Robin, D'Andrea, Raffaello
Publication Type Conference Contributions, Publication Status: Published
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## Detailed Information

Title High-Speed, Steady Flight with a Quadrocopter in a Confined Environment Using a Tether
Author(s) Schulz, Maximilian
Augugliaro, Federico
Ritz, Robin
D'Andrea, Raffaello
Book Title 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ISBN 978-1-4799-9993-4
978-147999994-1
Start Page 1279
End Page 1284
Publisher IEEE
Publication Place Piscataway, NJ
Publication Date 2015
Abstract This paper presents a method that enables highspeed, steady flight in confined spaces for tethered quadrocopters. Thanks to the centripetal force exerted by the tether, high-speed trajectories along circles at different velocities, accelerations, and orientations in space can be flown. Various circular maneuvers are experimentally demonstrated, and tangential velocities of up to 15 m/s and centripetal accelerations of more than 13 g can be achieved in steady flight. The recorded data allows to characterize the flight behavior of quadrocopters at high airspeeds: As an example, an estimate of the actual thrust produced by the motors and of the aerodynamic drag acting on the vehicle is presented. An accompanying video shows tethered quadrocopters performing high-speed maneuvers.
DOI 10.1109/IROS.2015.7353533
Event Name 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location Hamburg, Germany
Event Date September 28 - October 2, 2015
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
Organisational Unit(s)
Source Database ID FORM-1450200216
SCOPUS-84958176085
WOS-000371885401064
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@inproceedings{Schlz2015,
author = "Schulz, Maximilian and Augugliaro, Federico and Ritz, Robin and D'Andrea, Raffaello",
title = "{H}igh-{S}peed, {S}teady {F}light with a {Q}uadrocopter in a {C}onfined {E}nvironment {U}sing a {T}ether",
booktitle = "2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
year = 2015,
pages = "1279--1284",