Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller
doi: 10.4121/0530be90-cc6c-4029-9774-670657882906
CC BY 4.0
These flight logs and simulation datafiles form the basis of the analysis of
[1] T. M. Blaha, E. J. J. Smeur, and B. D. W. Remes, “Control of Unknown Quadrotors from a Single Throw,” Jun. 17, 2024, arXiv.2406.11723. Accepted at IROS 2024
[2] T. M. Blaha, E. J. J. Smeur, B. D. W. Remes, and C. C. de Visser “Flying a Quadrotor with Unknown Actuators and Sensor Configuration,” 2024, Accepted at IMAV 2024
They primarily show a small multirotor(s) response to
1. being launched in the air to about 4 meters altitude (by a pre-programmed "catapult" flight-mode)
2. forgetting its internal controller parameters [1]. Also forgetting the IMU orientation with respect to the actuators [2].
3. being subjected to a sequence of motor commands according to [1]
4. autonomous recovery to a position setpoint after the missing parameters have been identified and suitable control parameters have been calculated
The simulation data was generated with <https://github.com/tudelft/indiflightSupport/tree/iros_imav_2024> (snapshot also at <http://doi.org/10.4121/a5fa60a7-805c-4e13-a65e-1c65454eaa53>), which also contains the tools to reproduce the figures in the papers above.
More information on the craft is available at <https://github.com/tudelft/indiflightSupport/wiki>
- 2024-09-02 first online
- 2024-09-05 published, posted
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