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Emilio Frazzoli. Mueller, Erich, Ph. D. Massachusetts Institute of Technology Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics 2012-07-02T15:43:04Z 2012-07-02T15:43:04Z 2012 2012 http://hdl.handle.net/1721.1/71461 795183378 Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 149-151). This thesis is motivated by the concept of a system consisting of a swarm of small, automatically controlled air vehicles, each carrying a colour-controlled light source (payload), capable of executing coordinated maneouvres for the purpose of entertainment or data visualization. It focuses on a number of issues associated with the implementation of such a system, and specifically on the development of a non-linear, robust controller with feed-forward compensation, designed for control of a quad-rotor helicopter in the presence of aerodynamic interference generated by other vehicles in swarm-like operational conditions. System requirements and driving factors are identified, and various types of overall system architectures as well as vehicle designs are considered. The vehicle prototyping process is described, with specific emphasis on electronic design and hardware integration. Several problems associated with the flight of numerous vehicles in close proximity are addressed. Simulation and laboratory testing is described and results are presented and interpreted. Finally, consideration is given to the future development of such a system, as well as possible large-scale implementations and commercial opportunities. by Erich Mueller. S.M. 151 p. eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Aeronautics and Astronautics. Design of an adaptive 3-dimensional display enabled by a swarm of autonomous micro air vehicles Thesis application/pdf false Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="3918ca62-dce5-463d-bebc-1feb5e317b89"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Design of an adaptive 3-dimensional display enabled by a swarm of autonomous micro air vehicles</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2012</PublicationDate> <Authors> <Author> <DisplayName>Mueller, Erich, Ph. D. Massachusetts Institute of Technology</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Aeronautics and Astronautics.</Keyword> <Abstract>This thesis is motivated by the concept of a system consisting of a swarm of small, automatically controlled air vehicles, each carrying a colour-controlled light source (payload), capable of executing coordinated maneouvres for the purpose of entertainment or data visualization. It focuses on a number of issues associated with the implementation of such a system, and specifically on the development of a non-linear, robust controller with feed-forward compensation, designed for control of a quad-rotor helicopter in the presence of aerodynamic interference generated by other vehicles in swarm-like operational conditions. System requirements and driving factors are identified, and various types of overall system architectures as well as vehicle designs are considered. The vehicle prototyping process is described, with specific emphasis on electronic design and hardware integration. Several problems associated with the flight of numerous vehicles in close proximity are addressed. Simulation and laboratory testing is described and results are presented and interpreted. Finally, consideration is given to the future development of such a system, as well as possible large-scale implementations and commercial opportunities.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>