TY - DATA
T1 - Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller
PY - 2024/09/05
AU - Till Blaha
AU - Ewoud Smeur
AU - Bart Remes
UR - 
DO - 10.4121/0530be90-cc6c-4029-9774-670657882906.v2
KW - System Identification
KW - Flight Control
KW - Adaptive Control
N2 - <p>These flight logs and simulation datafiles form the basis of the analysis of</p><p><br></p><p>[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</p><p>[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</p><p><br></p><p>They primarily show a small multirotor(s) response to</p><p>1. being launched in the air to about 4 meters altitude (by a pre-programmed "catapult" flight-mode)</p><p>2. forgetting its internal controller parameters [1]. Also forgetting the IMU orientation with respect to the actuators [2].</p><p>3. being subjected to a sequence of motor commands according to [1]</p><p>4. autonomous recovery to a position setpoint after the missing parameters have been identified and suitable control parameters have been calculated</p><p><br></p><p>The simulation data was generated with &lt;https://github.com/tudelft/indiflightSupport/tree/iros_imav_2024&gt; (snapshot also at &lt;http://doi.org/10.4121/a5fa60a7-805c-4e13-a65e-1c65454eaa53&gt;), which also contains the tools to reproduce the figures in the papers above.</p><p><br></p><p>More information on the craft is available at &lt;https://github.com/tudelft/indiflightSupport/wiki&gt;</p>
ER -