Unmanned aerial vehicles (UAVs) have recently become a viable platform for surveillance and exploration tasks. Several commercial quadrotor aircraft have been successfully used as surveillance equipment with groups such as United States and Canadian police forces, and additional applications for this technology could include exploration of ra-dioactive/hazmat environments, naval search and resc...

Paralysis is the result of a block in the information pathway between the brain and the limbs. Patients losing bodily control in this way are unable to move as they need to and are, therefore, unable to look after their own needs. The goal of this paper is to design a functioning quadrotor drone that will respond to a patient’s brain activity and accordingly enables them to have normal daily fu...

The objective of this paper is to develop a vision-based navigation technique for micro aerial vehicles, quadrotor type, to operate in GPS-denied environment. The navigation method has been developed while using appearance-based Visual-Teach-andRepeat (VT&R) technique. In a teaching phase, a quadrotor is manually navigated along a desired route to collect a set of reference images. In a repeati...

Quadrotor has emerged as a popular testbed for Unmanned Aerial Vehicle (UAV) research due to its simplicity in construction and maintenance, and its vertical take-off, landing and hovering capabilities. It is a flying rotorcraft that has four lift-generating propellers; two of the propellers rotate clockwise and the other two rotate counter-clockwise. This paper presents modeling and system ide...

Typical quadrotor aerial robots used in research weigh less than 3 kg and carry payloads measured in hundreds of grams. Several obstacles in design and control must be overcome to cater for expected industry demands that push the boundaries of existing quadrotor performance. The X-4 Flyer, a 4 kg quadrotor with a 1 kg payload, is intended to be prototypical of useful commercial quadrotors. The ...

This paper presents the development and validation of a vision-based navigation and control system for a small unmanned quadrotor. The core of this system is a state estimator based on the so-called multi-camera parallel tracking and mapping algorithm, which provides accurate pose estimation for the quadrotor using multiple cameras. Built on cascaded proportional-integral-derivative control loo...

This paper considers the fuzzy modeling and robust fuzzy variable control for quadrotor in uncertain environment. The nonlinear system of quadrotor is firstly analyzed in this paper by utilizing laws of motion and force. Then, a Takagi-Sugeno (T-S) fuzzy model is achieved to approximate the system. LMI method is used to acquire an improved sliding surface. On this basis, a fuzzy variable struct...

Today, robots and unmanned aerial vehicles are being used extensively in modern societies. Due to a wide range of applications, it has attracted much attention among scientists over the past decades. This paper deals with the problem of the stability of a four-rotor flying robot called quadrotor, which is an under-actuated system, in the presence of operator or sensor failures. The dynamica...

We discuss the development of a mini‐ quadrotor system and coaxial quadrotor system for indoor and outdoor applications. The attitude control system consists of a stability augmentation system and a modern control approach. To perform an experimental flight test, a PID controller is used to validate our aerodynamic modelling and basic electronics hardware is dev...

Modeling and control of a Quadrotor with robotic arm which uses vision sensor is discussed. A quadrotor model coupled with a two link manipulator is first developed and then the integrated control mechanism is investigated. An Image Based Visual Servo system is introduced and then used with the aerial manipulator to successfully perform specific tasks of positioning and stabilization during man...