Not logged in.

Quick Search - Contribution

Contribution Details

Type Conference or Workshop Paper
Scope Discipline-based scholarship
Published in Proceedings Yes
Title Geometry-aware Compensation Scheme for Morphing Drones
Organization Unit
Authors
  • Amedeo Fabris
  • Kevin Kleber
  • Davide Falanga
  • Davide Scaramuzza
Presentation Type paper
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
ISBN 978-1-7281-9077-8
Page Range 592 - 598
Event Title 2021 IEEE International Conference on Robotics and Automation (ICRA)
Event Type conference
Event Location Xi'an
Event Start Date June 30 - 2021
Event End Date July 5 - 2021
Publisher IEEE
Abstract Text Recent studies have shown that enabling drones to change their morphology in flight can significantly increase their versatility in different tasks. In this paper, we investigate the aerodynamic effects caused by the partial overlap between the propellers and the main body of a morphing quadrotor during flight. We experimentally characterize such effects and design a morphology-aware control scheme to compensate them. We demonstrate the effectiveness of our approach by deploying the compensation scheme on a quadrotor that can fold its arms around the main body, comparing it against the same controller without the compensation scheme. Experimental results show that our compensation scheme can address the loss of thrust due to the overlap between the main body and the propellers, guaranteeing higher tracking accuracy, without requiring complex and computationally expensive aerodynamical models. To the best of our knowledge, this is the first work counteracting the aerodynamic effects of a morphing quadrotor during flight and showing the effects of partial overlap between a propeller and the central body of the drone.
Related URLs
Digital Object Identifier 10.1109/ICRA48506.2021.9561774
Other Identification Number merlin-id:22179
PDF File Download from ZORA
Export BibTeX
EP3 XML (ZORA)