Autonomous Vision-based Quadrotor Formations with Haptic Human Cooperation

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Unmanned Aerial Vehicles (UAVs)

from top to bottom: camera; vicon tree; microcontroller with IMU; brushless controllers; main frame with brushless motors and propellors on top and landers below; battery; mini-PC; voltage regulation board.
Multi-robot research is conducted by exploiting UAVs (quadrotors) as experimental testbeds for implementing and evaluating advanced complex strategies for multi-robot estimation and control, with a particular focus on decentralized solutions. The quadrotors used by the group are based on a commercial product from the german company MikroKopter (Germany), and have been then modified both in their hardware and control software to suit our particular needs. Absolute position/orientation measurements are obtained form an external tracking system (VICON® ), although several quantities are also estimated onboard exploiting accelerometers, gyroscopes and onboard cameras.
Last updated: Wednesday, 17.04.2013