Quadrotor unmanned aerial vehicle (UAV) has become more and popular due to its high maneuverability, vertical take-off, landing hovering capability, ease of operation. However, it is subject various disturbances during the flight, such as turbulence. This paper provides a comprehensive survey control methods proposed for quadrotor stability. According relationship between controller controlled ...

We present control methods for an autonomous four-rotor helicopter, called a quadrotor, using visual feedback as the primary sensor. The vision system uses a ground camera to estimate the pose (position and orientation) of the helicopter. Two methods of control are studied one using a series of mode-based, feedback linearizing controllers, and the other using a backstepping-like control law. Va...

In this work, we propose an interoceptive-only state estimation system for a quadrotor with deep neural network processing, where the dynamics is considered as perceptive supplement of inertial kinematics. To improve precision multi-sensor fusion, train cascaded networks on real-world flight data to learn IMU kinematic properties, dynamic characteristics, and motion states along their uncertain...

The use of mobile robots in search-and-rescue and disaster-response missions has increased significantly in recent years. However, they are still remotely controlled by expert professionals on an actuator set-point level, and they would benefit, therefore, from any bit of autonomy added. This would allow them to execute highlevel commands, such as “execute this trajectory” or “map this area.” I...

Executing agile quadrotor maneuvers with cablesuspended payloads is a challenging problem and complications induced by the dynamics typically require trajectory optimization. State-of-the-art approaches often need significant computation time and complex parameter tuning. We present a novel dynamical model and a fast trajectory optimization algorithm for quadrotors with a cable-suspended payloa...