KR20150004915A - 쿼드로터 팀의 3차원적 조정 - Google Patents

쿼드로터 팀의 3차원적 조정 Download PDF

Info

Publication number
KR20150004915A
KR20150004915A KR1020147033799A KR20147033799A KR20150004915A KR 20150004915 A KR20150004915 A KR 20150004915A KR 1020147033799 A KR1020147033799 A KR 1020147033799A KR 20147033799 A KR20147033799 A KR 20147033799A KR 20150004915 A KR20150004915 A KR 20150004915A
Authority
KR
South Korea
Prior art keywords
trajectory
generating
quad
vehicles
flight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
KR1020147033799A
Other languages
English (en)
Korean (ko)
Inventor
비제이 쿠마르
알렉산드르 쿠쉴레예프
다니엘 멜링어
Original Assignee
더 트러스티스 오브 더 유니버시티 오브 펜실바니아
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 더 트러스티스 오브 더 유니버시티 오브 펜실바니아 filed Critical 더 트러스티스 오브 더 유니버시티 오브 펜실바니아
Publication of KR20150004915A publication Critical patent/KR20150004915A/ko
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/65—Following a desired speed profile
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/80—Anti-collision systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/80—UAVs characterised by their small size, e.g. micro air vehicles [MAV]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/22—Aircraft, e.g. drones with fixed wings
    • G05D2109/23—Vertical take-off and landing [VTOL] aircraft; Short take-off and landing [STOL, STOVL] aircraft
    • G05D2109/24—Convertible aircraft, e.g. tiltrotor aircraft

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
KR1020147033799A 2012-04-30 2013-04-30 쿼드로터 팀의 3차원적 조정 Withdrawn KR20150004915A (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261640249P 2012-04-30 2012-04-30
US61/640,249 2012-04-30
PCT/US2013/038769 WO2014018147A2 (en) 2012-04-30 2013-04-30 Three-dimensional manipulation of teams of quadrotors

Publications (1)

Publication Number Publication Date
KR20150004915A true KR20150004915A (ko) 2015-01-13

Family

ID=49997946

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020147033799A Withdrawn KR20150004915A (ko) 2012-04-30 2013-04-30 쿼드로터 팀의 3차원적 조정

Country Status (7)

Country Link
US (1) US9599993B2 (enExample)
EP (1) EP2845071B1 (enExample)
KR (1) KR20150004915A (enExample)
CN (1) CN104718508B (enExample)
AU (1) AU2013293507B2 (enExample)
IN (1) IN2014DN10149A (enExample)
WO (1) WO2014018147A2 (enExample)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180085562A (ko) * 2017-01-19 2018-07-27 금오공과대학교 산학협력단 생체 모방 알고리즘을 이용한 다수 드론의 수색 및 정찰 방법
KR20180100608A (ko) * 2016-02-03 2018-09-11 소니 주식회사 정적 및/또는 모션 장면을 캡처하기 위해 다중-카메라 네트워크의 이용을 위한 시스템 및 방법
KR102065641B1 (ko) * 2018-09-13 2020-01-13 광주과학기술원 드론 제어 시스템 및 그것의 동작 방법
KR20200105012A (ko) * 2019-02-28 2020-09-07 주식회사 켐에쎈 라이다 기반 자율 충돌회피 기능을 포함하는 드론 및 그 제어 방법
KR20230155261A (ko) * 2022-05-03 2023-11-10 한양대학교 산학협력단 쿼드로터를 위한 충돌 회피 제어 시스템 및 방법

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2999305B1 (fr) * 2012-12-11 2021-11-12 Thales Sa Procede de pilotage d'un ensemble de robots et ensemble de robots
EP3470787B1 (en) 2013-11-27 2020-04-15 The Trustees Of The University Of Pennsylvania Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (mav)
JP6139791B2 (ja) * 2014-03-14 2017-05-31 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 無人航空機及びそのデータ処理方法
NL1040863B1 (en) 2014-06-23 2016-06-08 Jacoba Maria Kales Jolanda Method and systems for airborne visualization.
KR101632641B1 (ko) * 2014-07-03 2016-06-23 한국에너지기술연구원 태양광 박막전지를 이용한 쿼드로터 차양막
US9606535B2 (en) * 2014-07-22 2017-03-28 Sikorsky Aircraft Corporation Spatial recognition in an autonomous vehicle group
US9702674B2 (en) * 2014-08-07 2017-07-11 The United States Of America As Represented By The Secretary Of The Army Method and apparatus for GPS-denied navigation of spin-stabilized projectiles
DE102014015472A1 (de) 2014-10-18 2015-04-23 Daimler Ag Prüf- und Messvorrichtung
US20170323472A1 (en) 2014-10-26 2017-11-09 Galileo Group, Inc. Methods and systems for surface informatics based detection with machine-to-machine networks and smartphones
WO2016123201A1 (en) 2015-01-27 2016-08-04 The Trustees Of The University Of Pennsylvania Systems, devices, and methods for robotic remote sensing for precision agriculture
US9671791B1 (en) * 2015-06-10 2017-06-06 Amazon Technologies, Inc. Managing unmanned vehicles
US10037028B2 (en) 2015-07-24 2018-07-31 The Trustees Of The University Of Pennsylvania Systems, devices, and methods for on-board sensing and control of micro aerial vehicles
WO2017095493A2 (en) 2015-09-11 2017-06-08 The Trustees Of The University Of Pennsylvania Systems and methods for generating safe trajectories for multi-vehicle teams
US10041792B2 (en) * 2015-12-30 2018-08-07 Qualcomm Incorporated Pressure tap structures for barometric altimeters for unmanned aerial vehicles
US10271021B2 (en) 2016-02-29 2019-04-23 Microsoft Technology Licensing, Llc Vehicle trajectory determination to stabilize vehicle-captured video
CN108292141B (zh) 2016-03-01 2022-07-01 深圳市大疆创新科技有限公司 用于目标跟踪的方法和系统
US10073454B2 (en) 2016-03-17 2018-09-11 Northrop Grumman Systems Corporation Machine vision enabled swarm guidance technology
CN107291095B (zh) * 2016-04-11 2021-06-18 河北雄安远度科技有限公司 无人机起飞控制方法、装置、系统以及无人机
US9984578B2 (en) * 2016-05-03 2018-05-29 Rockwell Collins, Inc. Digital map enabled boundary search pattern
CN105974934A (zh) * 2016-06-24 2016-09-28 天津理工大学 基于领航-跟随法的空气质量智能监测四旋翼编队系统
US10642272B1 (en) * 2016-09-28 2020-05-05 Amazon Technologies, Inc. Vehicle navigation with image-aided global positioning system
US10289121B2 (en) 2016-11-14 2019-05-14 Qualcomm Incorporated Vehicle collision avoidance
US11680860B2 (en) * 2016-11-24 2023-06-20 The University Of Queensland Compact load cells
US10554909B2 (en) 2017-01-10 2020-02-04 Galileo Group, Inc. Systems and methods for spectral imaging with a transmitter using a plurality of light sources
US10893182B2 (en) 2017-01-10 2021-01-12 Galileo Group, Inc. Systems and methods for spectral imaging with compensation functions
AT16013U1 (de) * 2017-04-28 2018-10-15 Ars Electronica Linz Gmbh & Co Kg Unbemanntes Luftfahrzeug mit einer modularen Schwarmsteuereinheit
CN109960273B (zh) * 2017-12-22 2022-05-17 杭州海康机器人技术有限公司 无人机的飞行控制方法、装置及存储介质
EP3747000B1 (en) 2018-01-29 2024-07-10 Israel Aerospace Industries Ltd. Proximity navigation of unmanned vehicles
CN108733078A (zh) * 2018-06-08 2018-11-02 广东工业大学 一种无人系统集群的编队控制方法、装置及系统
JP6608492B1 (ja) * 2018-07-25 2019-11-20 公立大学法人大阪 ネットワークシステムおよび通信方法
JP2020023283A (ja) * 2018-08-08 2020-02-13 日本電信電話株式会社 飛行制御装置、方法、及びプログラム
EP3627447B1 (en) * 2018-09-24 2022-06-29 Tata Consultancy Services Limited System and method of multirotor dynamics based online scale estimation for monocular vision
CN109828599B (zh) * 2019-01-08 2020-12-15 苏州极目机器人科技有限公司 飞行器作业路径规划方法以及控制装置和控制设备
FR3100898B1 (fr) * 2019-09-12 2023-01-06 Dronisos Procédé de simulation pour la réalisation de figures aériennes avec un essaim de drones
US11754408B2 (en) * 2019-10-09 2023-09-12 Argo AI, LLC Methods and systems for topological planning in autonomous driving
CN113093716B (zh) * 2019-12-19 2024-04-30 广州极飞科技股份有限公司 一种运动轨迹规划方法、装置、设备及存储介质
CN111026146B (zh) * 2019-12-24 2021-04-06 西北工业大学 一种复合翼垂直起降无人机的姿态控制方法
CN111207741B (zh) * 2020-01-16 2022-01-07 西安因诺航空科技有限公司 一种基于室内视觉vicon系统的无人机导航定位方法
CN111552317B (zh) * 2020-05-15 2023-06-30 北京控制工程研究所 一种多航天器四维协同轨迹确定方法
CN111833381B (zh) * 2020-06-24 2024-07-23 鹏城实验室 一种无人机目标跟踪轨迹生成方法、无人机及存储介质
CN112256054B (zh) * 2020-10-09 2022-03-29 北京邮电大学 一种无人机轨迹规划方法及装置
DE102020127797B4 (de) * 2020-10-22 2024-03-14 Markus Garcia Sensorverfahren zum optischen Erfassen von Nutzungsobjekten zur Detektion eines Sicherheitsabstandes zwischen Objekten
CN113031643B (zh) * 2021-02-01 2023-10-13 广州民航职业技术学院 一种无人机编队与避障方法
CN113406971A (zh) * 2021-07-13 2021-09-17 天津大学 分布式无人机队列与动态避障控制方法
CN113687662B (zh) * 2021-09-08 2023-12-19 南京理工大学 基于布谷鸟算法改进人工势场法的四旋翼编队避障方法
CN114180051B (zh) * 2021-11-22 2023-07-04 天津大学 防止共轴双旋翼直升机上下桨叶碰撞的预警系统及方法
US12388620B2 (en) 2021-12-15 2025-08-12 Galileo Group, Inc. Systems, methods, and devices for generating digital and cryptographic assets by mapping bodies for n-dimensional monitoring using mobile image devices
US11597490B1 (en) 2021-12-22 2023-03-07 Rapidflight Holdings, Llc Additive manufactured airframe structure having a plurality of reinforcement elements
WO2023162953A1 (ja) * 2022-02-25 2023-08-31 株式会社Spiral 飛行体の制御システム
CN115578269B (zh) * 2022-06-24 2025-06-27 哈尔滨工业大学（深圳） 用于扑翼飞行机器人视觉监测的视频增稳方法及系统
CN116009565B (zh) * 2022-08-29 2025-08-19 浙江大学湖州研究院 具有高速运动能力的空地双模态机器人控制系统构建方法
CN115903899B (zh) * 2022-11-24 2025-05-09 中国兵器工业计算机应用技术研究所 多无人机避障仿真控制的轨迹规划方法、装置和仿真系统
CN116483105B (zh) * 2023-04-25 2025-08-19 湖南大学 一种欠驱动型四旋翼无人机虚拟围栏安全控制方法
CN116461714B (zh) * 2023-05-17 2024-01-16 北京科技大学 一种基于动捕系统的仿蝴蝶扑翼飞行器飞行参数确定方法
CN116699986B (zh) * 2023-05-31 2025-08-15 北京航空航天大学 一种适用于多旋翼的多个执行器失效的被动容错控制方法
CN117170230B (zh) * 2023-08-11 2024-05-17 中国电子科技集团公司第七研究所 一种垂直起降无人机群多模态轨迹生成方法

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2697796B1 (fr) * 1992-11-10 1994-12-09 Sextant Avionique Dispositif d'évitement de collisions pour aéronef notamment avec le sol.
US6308911B1 (en) * 1998-10-30 2001-10-30 Lockheed Martin Corp. Method and apparatus for rapidly turning a vehicle in a fluid medium
US6422508B1 (en) 2000-04-05 2002-07-23 Galileo Group, Inc. System for robotic control of imaging data having a steerable gimbal mounted spectral sensor and methods
US8712144B2 (en) 2003-04-30 2014-04-29 Deere & Company System and method for detecting crop rows in an agricultural field
US7228227B2 (en) * 2004-07-07 2007-06-05 The Boeing Company Bezier curve flightpath guidance using moving waypoints
US7249730B1 (en) * 2004-09-23 2007-07-31 United States Of America As Represented By The Secretary Of The Army System and method for in-flight trajectory path synthesis using the time sampled output of onboard sensors
US8019544B2 (en) * 2005-01-03 2011-09-13 The Boeing Company Real-time refinement method of spacecraft star tracker alignment estimates
WO2006113391A2 (en) 2005-04-19 2006-10-26 Jaymart Sensors, Llc Miniaturized inertial measurement unit and associated methods
US20070235592A1 (en) * 2005-12-05 2007-10-11 Horn Phillippe L Minimum time or thrust separation trajectory for spacecraft emergency separation
US7643893B2 (en) * 2006-07-24 2010-01-05 The Boeing Company Closed-loop feedback control using motion capture systems
US9201147B2 (en) * 2008-01-14 2015-12-01 Trimble Navigation Limited GNSS signal processing with regional augmentation network
US8675068B2 (en) 2008-04-11 2014-03-18 Nearmap Australia Pty Ltd Systems and methods of capturing large area images in detail including cascaded cameras and/or calibration features
US8442355B2 (en) 2008-05-23 2013-05-14 Samsung Electronics Co., Ltd. System and method for generating a multi-dimensional image
US20110082566A1 (en) * 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
US20100114408A1 (en) 2008-10-31 2010-05-06 Honeywell International Inc. Micro aerial vehicle quality of service manager
US8380362B2 (en) * 2009-07-10 2013-02-19 The Boeing Company Systems and methods for remotely collaborative vehicles
EP2280241A3 (en) * 2009-07-30 2017-08-23 QinetiQ Limited Vehicle control
US8577539B1 (en) 2010-01-27 2013-11-05 The United States Of America As Represented By The Secretary Of The Air Force Coded aperture aided navigation and geolocation systems
FR2959812B1 (fr) * 2010-05-05 2012-11-16 Thales Sa Procede d'elaboration d'une phase de navigation dans un systeme de navigation impliquant une correlation de terrain.
US8676498B2 (en) 2010-09-24 2014-03-18 Honeywell International Inc. Camera and inertial measurement unit integration with navigation data feedback for feature tracking
US9058633B2 (en) 2010-10-25 2015-06-16 Trimble Navigation Limited Wide-area agricultural monitoring and prediction
US8868323B2 (en) 2011-03-22 2014-10-21 Honeywell International Inc. Collaborative navigation using conditional updates
US9035774B2 (en) * 2011-04-11 2015-05-19 Lone Star Ip Holdings, Lp Interrogator and system employing the same
WO2013181558A1 (en) 2012-06-01 2013-12-05 Agerpoint, Inc. Systems and methods for monitoring agricultural products
US9723230B2 (en) 2012-11-30 2017-08-01 University Of Utah Research Foundation Multi-spectral imaging with diffractive optics
EP3470787B1 (en) 2013-11-27 2020-04-15 The Trustees Of The University Of Pennsylvania Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (mav)
WO2016123201A1 (en) 2015-01-27 2016-08-04 The Trustees Of The University Of Pennsylvania Systems, devices, and methods for robotic remote sensing for precision agriculture

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180100608A (ko) * 2016-02-03 2018-09-11 소니 주식회사 정적 및/또는 모션 장면을 캡처하기 위해 다중-카메라 네트워크의 이용을 위한 시스템 및 방법
KR20180085562A (ko) * 2017-01-19 2018-07-27 금오공과대학교 산학협력단 생체 모방 알고리즘을 이용한 다수 드론의 수색 및 정찰 방법
KR102065641B1 (ko) * 2018-09-13 2020-01-13 광주과학기술원 드론 제어 시스템 및 그것의 동작 방법
KR20200105012A (ko) * 2019-02-28 2020-09-07 주식회사 켐에쎈 라이다 기반 자율 충돌회피 기능을 포함하는 드론 및 그 제어 방법
KR20230155261A (ko) * 2022-05-03 2023-11-10 한양대학교 산학협력단 쿼드로터를 위한 충돌 회피 제어 시스템 및 방법

Also Published As

Publication number Publication date
US20150105946A1 (en) 2015-04-16
CN104718508A (zh) 2015-06-17
AU2013293507A1 (en) 2014-12-18
CN104718508B (zh) 2017-09-08
EP2845071A4 (en) 2016-06-22
EP2845071B1 (en) 2020-03-18
EP2845071A2 (en) 2015-03-11
AU2013293507B2 (en) 2016-12-15
WO2014018147A3 (en) 2014-03-20
IN2014DN10149A (enExample) 2015-08-21
US9599993B2 (en) 2017-03-21
WO2014018147A2 (en) 2014-01-30
HK1210288A1 (en) 2016-04-15

Similar Documents

Publication Publication Date Title
AU2013293507B2 (en) Three-dimensional manipulation of teams of quadrotors
Kushleyev et al. Towards a swarm of agile micro quadrotors
Mellinger et al. Mixed-integer quadratic program trajectory generation for heterogeneous quadrotor teams
Alonso-Mora et al. Collision avoidance for aerial vehicles in multi-agent scenarios
Powers et al. Quadrotor kinematics and dynamics
Cutler et al. Analysis and control of a variable-pitch quadrotor for agile flight
Mellinger et al. Minimum snap trajectory generation and control for quadrotors
Gao et al. Adaptive tracking and perching for quadrotor in dynamic scenarios
Tang et al. Multi-robot trajectory generation for an aerial payload transport system
Lai et al. Safe navigation of quadrotors with jerk limited trajectory
Vílez et al. Trajectory generation and tracking using the AR. Drone 2.0 quadcopter UAV
Gosiewski et al. Formation flight control scheme for unmanned aerial vehicles
Ivanov et al. Method of spheres for solving 3D formation task in a group of quadrotors
Vinokursky et al. Model predictive control for path planning of UAV group
Silva et al. Quadrotor thrust vectoring control with time and jerk optimal trajectory planning in constant wind fields
Lu et al. Autonomous tail-sitter flights in unknown environments
Min et al. Formation tracking control of multiple quadrotors based on backstepping
Konrad et al. Flatness-based model predictive trajectory optimization for inspection tasks of multirotors
Bipin et al. Autonomous navigation of generic quadrocopter with minimum time trajectory planning and control
Jamieson et al. Trajectory generation using sub-riemannian curves for quadrotor UAVs
Alonso-Mora Collaborative motion planning for multi-agent systems
Ren et al. Obstacle avoidance-based control system design of UAV with suspended payload
Watterson et al. Geometric control and trajectory optimization for bidirectional thrust quadrotors
Guimaraes et al. Fully autonomous quadrotor: A testbed platform for aerial robotics tasks
HK1210288B (en) Three-dimensional manipulation of teams of quadrotors

Legal Events

Date Code Title Description
PA0105 International application

St.27 status event code: A-0-1-A10-A15-nap-PA0105

R17-X000 Change to representative recorded

St.27 status event code: A-3-3-R10-R17-oth-X000

PG1501 Laying open of application

St.27 status event code: A-1-1-Q10-Q12-nap-PG1501

P11-X000 Amendment of application requested

St.27 status event code: A-2-2-P10-P11-nap-X000

P13-X000 Application amended

St.27 status event code: A-2-2-P10-P13-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

PA0201 Request for examination

St.27 status event code: A-1-2-D10-D11-exm-PA0201

PC1202 Submission of document of withdrawal before decision of registration

St.27 status event code: N-1-6-B10-B11-nap-PC1202

WITB Written withdrawal of application
R18-X000 Changes to party contact information recorded

St.27 status event code: A-3-3-R10-R18-oth-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000

P22-X000 Classification modified

St.27 status event code: A-2-2-P10-P22-nap-X000