Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
In this paper we present the design of a highly flexible quadcopter platform and the software too... more In this paper we present the design of a highly flexible quadcopter platform and the software tools used in an example experiment to show unlimited flight time of an MAV with laser power beaming. We describe the mechanical design as well as the flight control system architecture which are focused on easy adaption to a wide variety of experiments. The paper also includes size, payload and flight time considerations and explains the tools to adapt the vehicle to the specific application. The design of a position control system implemented on the mi- croprocessor hardware using a specially developed framework for MATLAB/Simulink is described as well. The robustness of the overall system and the presented position control structure is proven by the result of the 12:27 h continuous flight with a 1 kg MAV. I. INTRODUCTION Quadcopter systems are more and more used as platforms for experiments in the field of navigation and control. Basically, the quadcopter is a helicopter driven by four r...
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
We describe an efficient, reliable, and robust fourrotor flying platform for indoor and outdoor n... more We describe an efficient, reliable, and robust fourrotor flying platform for indoor and outdoor navigation. Currently, similar platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and instable behavior during fast maneuvers. Our flying platform offers a 1 kHz control frequency and motor update rate, in combination with powerful brushless DC motors in a light-weight package. Following a minimalistic design approach this system is based on a small number of lowcost components. Its robust performance is achieved by using simple but reliable highly optimized algorithms. The robot is small, light, and can carry payloads of up to 350g.
Autonomous navigation of micro helicopters (where “micro” means up to the size of a few decimeter... more Autonomous navigation of micro helicopters (where “micro” means up to the size of a few decimeters and less tan 2kg) has progressed significantly in the last decade thanks to the miniaturization of exteroceptive sensors (eg, laser rangefinders and digital cameras), and to the recent advances in micro-electromechanical systems, power supply, and vehicle design.
The International Journal of Robotics Research, 2010
The MAV '08 competition focused on the problem of using air and ground vehicles to locate and res... more The MAV '08 competition focused on the problem of using air and ground vehicles to locate and rescue hostages being held in a remote building. To execute this mission, a number of technical challenges were addressed, including designing the micro air vehicle (MAV), using the MAV to geo-locate ground targets, and planning the motion of ground vehicles to reach the hostage location without detection.
The International Journal of Robotics Research, 2010
DOI: 10.1177/0278364909358275 2010 29: 547 originally published online 25 January 2010 ... The In... more DOI: 10.1177/0278364909358275 2010 29: 547 originally published online 25 January 2010 ... The International Journal of Robotics Research Iuliu Vasilescu, Carrick Detweiler, Marek Doniec, Daniel Gurdan, Stefan Sosnowski, Jan Stumpf and Daniela Rus AMOUR V: A ...
IEEE International Conference on Intelligent Robots and Systems, 2012
The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision co... more The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical foundations to hardware design and embedded programming. One of the contributions is the development of a new MAV, a hexacopter, equipped with enough processing power for onboard computer vision. A major contribution is the development of monocular visual SLAM that runs in real-time onboard of the MAV. The visual SLAM results are fused with IMU measurements and are used to stabilize and control the MAV. This enables autonomous flight of the MAV, without the need of a data link to a ground station. Within this scope novel analytical solutions for fusing IMU and vision measurements have been derived. In addition to the realtime local SLAM, an offline dense mapping process has been developed. For this the MAV's are equipped with a payload of a stereo camera system. The dense environment map is used to compute optimal surveillance positions for a swarm of MAV's. For this an optimiziation technique based on cognitive adaptive optimization has been developed. Finally, the MAV's have been equipped with radio transceivers and a method has been developed to locate radio beacons in the observed environment.
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
In this paper we present the design of a highly flexible quadcopter platform and the software too... more In this paper we present the design of a highly flexible quadcopter platform and the software tools used in an example experiment to show unlimited flight time of an MAV with laser power beaming. We describe the mechanical design as well as the flight control system architecture which are focused on easy adaption to a wide variety of experiments. The paper also includes size, payload and flight time considerations and explains the tools to adapt the vehicle to the specific application. The design of a position control system implemented on the mi- croprocessor hardware using a specially developed framework for MATLAB/Simulink is described as well. The robustness of the overall system and the presented position control structure is proven by the result of the 12:27 h continuous flight with a 1 kg MAV. I. INTRODUCTION Quadcopter systems are more and more used as platforms for experiments in the field of navigation and control. Basically, the quadcopter is a helicopter driven by four r...
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007
We describe an efficient, reliable, and robust fourrotor flying platform for indoor and outdoor n... more We describe an efficient, reliable, and robust fourrotor flying platform for indoor and outdoor navigation. Currently, similar platforms are controlled at low frequencies due to hardware and software limitations. This causes uncertainty in position control and instable behavior during fast maneuvers. Our flying platform offers a 1 kHz control frequency and motor update rate, in combination with powerful brushless DC motors in a light-weight package. Following a minimalistic design approach this system is based on a small number of lowcost components. Its robust performance is achieved by using simple but reliable highly optimized algorithms. The robot is small, light, and can carry payloads of up to 350g.
Autonomous navigation of micro helicopters (where “micro” means up to the size of a few decimeter... more Autonomous navigation of micro helicopters (where “micro” means up to the size of a few decimeters and less tan 2kg) has progressed significantly in the last decade thanks to the miniaturization of exteroceptive sensors (eg, laser rangefinders and digital cameras), and to the recent advances in micro-electromechanical systems, power supply, and vehicle design.
The International Journal of Robotics Research, 2010
The MAV '08 competition focused on the problem of using air and ground vehicles to locate and res... more The MAV '08 competition focused on the problem of using air and ground vehicles to locate and rescue hostages being held in a remote building. To execute this mission, a number of technical challenges were addressed, including designing the micro air vehicle (MAV), using the MAV to geo-locate ground targets, and planning the motion of ground vehicles to reach the hostage location without detection.
The International Journal of Robotics Research, 2010
DOI: 10.1177/0278364909358275 2010 29: 547 originally published online 25 January 2010 ... The In... more DOI: 10.1177/0278364909358275 2010 29: 547 originally published online 25 January 2010 ... The International Journal of Robotics Research Iuliu Vasilescu, Carrick Detweiler, Marek Doniec, Daniel Gurdan, Stefan Sosnowski, Jan Stumpf and Daniela Rus AMOUR V: A ...
IEEE International Conference on Intelligent Robots and Systems, 2012
The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision co... more The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical foundations to hardware design and embedded programming. One of the contributions is the development of a new MAV, a hexacopter, equipped with enough processing power for onboard computer vision. A major contribution is the development of monocular visual SLAM that runs in real-time onboard of the MAV. The visual SLAM results are fused with IMU measurements and are used to stabilize and control the MAV. This enables autonomous flight of the MAV, without the need of a data link to a ground station. Within this scope novel analytical solutions for fusing IMU and vision measurements have been derived. In addition to the realtime local SLAM, an offline dense mapping process has been developed. For this the MAV's are equipped with a payload of a stereo camera system. The dense environment map is used to compute optimal surveillance positions for a swarm of MAV's. For this an optimiziation technique based on cognitive adaptive optimization has been developed. Finally, the MAV's have been equipped with radio transceivers and a method has been developed to locate radio beacons in the observed environment.
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Papers by Daniel Gurdan