An embedded controller for quad-rotor flying robots running distributed algorithms
Name
593941931-MIT.pdf
Description
Full printable version
Size
17.45 MB
Format
Adobe PDF
Checksum (MD5)
c86aa0bc31014a42c921f997fd68fa60
Author(s)
Julian, Brian John
Advisor(s)
Daniela L. Rus.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
Multiple collaborating quad-rotor flying robots are useful in a broad range of applications, from surveillance with onboard cameras to reconfiguration of wireless networks. For these applications, it is often advantageous to have the robot team be a distributed system. In this thesis, an embedded controller capable of running distributed algorithms is presented for the quad-rotor flying robot. The robot platform is first characterized to help guide the design of the embedded control module. These modules are fabricated and tested on the quad-rotor flying robots in both indoor and outdoor environments. To propagate state estimates throughout the robot team, a location-based multi-hop algorithm is proposed. Network limitations, such as sub-optimal bandwidth and finite communication range, are implemented in hardware-in-the-loop simulations to determine system performance. A novel coverage algorithm for multiple hovering robots with downward facing cameras is then demonstrated on the embedded controller. The results from numerous indoor and outdoor experiments are discussed.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 379-383).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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