Quadrocopter Performance Benchmarking Using Optimal Control

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Author(s) Ritz, Robin, Hehn, Markus, Lupashin, Sergei, D'Andrea, Raffaello
Publication Type Conference Contributions, Publication Status: Published
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Title Quadrocopter Performance Benchmarking Using Optimal Control
Author(s) Ritz, Robin
Hehn, Markus
Lupashin, Sergei
D'Andrea, Raffaello
Editor(s) Amato, Nancy M.
Book Title 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011
ISBN 978-1-61284-454-1
978-1-612-84455-8
Start Page 5179
End Page 5186
Publisher IEEE
Publication Place Piscataway, NJ
Publication Date 2011
Abstract A numerical method for computing quadrocopter maneuvers between two states is presented. Computed maneuvers satisfy Pontryagin's minimum principle with respect to time-optimality. First, in order to obtain the structure of time-optimal maneuvers, we apply the minimum principle to a first-principles, two-dimensional quadrotor model. Then we present a numerical algorithm that enables the computation of maneuvers for arbitrary initial and final states. The developed method is used to compute a set of maneuvers, which are discussed and demonstrated experimentally in the ETH Zurich Flying Machine Arena testbed.
DOI 10.1109/IROS.2011.6094775
Event Name IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location San Francisco, CA, USA
Event Date September 25-30, 2011
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
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Source Database ID FORM-1322663010
WOS-000297477505082
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@inproceedings{Rtz2011,
  author = "Ritz, Robin and Hehn, Markus and Lupashin, Sergei and D'Andrea, Raffaello",
  editor = "Amato, Nancy M.",
  title = "{Q}uadrocopter {P}erformance {B}enchmarking {U}sing {O}ptimal {C}ontrol",
  booktitle = "2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011",
  year = 2011,
  pages = "5179--5186",
  address = "Piscataway, NJ",
  publisher = "IEEE",
}


E-Citations record created: Wed, 30 Nov 2011, 14:23:34 CET