Cooperative Quadrocopter Ball Throwing and Catching

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Author(s) Ritz, Robin, Mueller, Mark W., Hehn, Markus, D'Andrea, Raffaello
Publication Type Conference Contributions, Publication Status: Published
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Title Cooperative Quadrocopter Ball Throwing and Catching
Author(s) Ritz, Robin
Mueller, Mark W.
Hehn, Markus
D'Andrea, Raffaello
ISBN 978-1-4673-1737-5
Journal or Series Title IEEE/RSJ International Conference on Intelligent Robots and Systems
Start Page 4972
End Page 4978
Publisher IEEE
Publication Date 2012
Abstract This paper presents a method for enabling a fleet of circularly arranged quadrocopters to throw and catch balls with a net. Based on a first-principles model of the net forces, nominal inputs for all involved vehicles are derived for arbitrary target trajectories of the net. Two algorithms that generate open-loop trajectories for throwing and catching a ball are also introduced. A set of throws and catches is demonstrated in the ETH Zurich Flying Machine Arena testbed.
DOI 10.1109/IROS.2012.6385963
Event Name IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location Vilamoura-Algarve, Portugal
Event Date October 7-12, 2012
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
Organisational Unit(s)
Source Database ID FORM-1352289641
WOS-000317042705087
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@inproceedings{Rtz2012,
  author = "Ritz, Robin and Mueller, Mark W. and Hehn, Markus and D'Andrea, Raffaello",
  title = "{C}ooperative {Q}uadrocopter {B}all {T}hrowing and {C}atching",
  year = 2012,
  series = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
  pages = "4972--4978",
  publisher = "IEEE",
}


E-Citations record created: Wed, 07 Nov 2012, 12:00:44 CET