Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 24 for “"Micro Aerial Vehicles"”.
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Design and optimization of Micro Aerial Vehicles
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2003.
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Deploying fast object detection for micro aerial vehicles
… into an object detection pipeline for a micro aerial vehicle (MAV). This work was done as part of the Defense Advanced Research Projects Agency's (DARPA) Fast Lightweight Autonomy (FLA) program with the goal of creating an autonomous MAV that could explore and map an unknown urban …
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System Design Methodology and Implementation of Micro Aerial Vehicles
… design and implementation process of micro aerial vehicle (MAV) systems, which are suitable for indoor missions such as search and rescue, and surveillance. The proposed MAVs seek a breakthrough in the current unmanned aircraft market, by having the ability of full mission autonomous …
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RoboBat: dynamics and control of flapping flight micro aerial vehicles
Flapping flight micro aerial vehicles (MAVs) are of interest to the aerospace and robotics communities for their maneuverability in comparison to tradition fixed wing and rotary aircraft. However they present numerous challenges in the fields of dynamics, stability and control. This thesis examines …
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The Development of a Force Balance for Testing Micro Aerial Vehicles
… balance that could produce meaningful data for micro aerial vehicles. Research was conducted to investigate the common balance configurations, and the strengths and weaknesses of each configuration were used to select the most appropriate design. The limitations of available fabrication …
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DESIGN AND CONTROL OF A HUMMINGBIRD-SIZE FLAPPING WING MICRO AERIAL VEHICLE
… flapping flight presents an extraordinary aerial locomotion strategy perfected at small size scales. Flapping Wing Micro Aerial Vehicles (FWMAVs) hold great promise in bridging the performance gap between engineered flying vehicles and their natural counterparts. They are perfect candidates …
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Design and construction of an autonomous ornithopter
In recent years the subject of flying vehicles propelled by flapping wings, also known as ornithopters, has been an area of interest because of its application to micro aerial vehicles (MAVs). These miniature vehicles seek to mimic small birds and insects to achieve never before seen agility in …
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Scalable and Modular Manufacturing of Insect-Scale Aerial Robots Towards Swarm Flight Demonstrations
… Inspired by these biological feats, insect-scale micro aerial vehicles (MAVs) have been developed with advanced flight functionalities, including collision resilience and aerial acrobatics. Despite these advancements, MAVs weighing less than a gram continue to face critical challenges in design, …
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A control architecture and human interface for agile, reconfigurable micro aerial vehicle formations
… considers the problem of controlling a group of micro aerial vehicles for agile maneuvering cooperatively, or distributively. We first introduce the background and motivation for micro aerial vehicles, especially for the popular multi-rotor aerial vehicle platform. Then, we discuss the dynamics …
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Control and estimation strategies for autonomous MAV landing on a moving platform in turbulent wind conditions
Micro aerial vehicles (MAVs) are increasing in popularity both for recreational and commercial purposes. In particular, autonomous MAVs are promising in the field of drone delivery due to their scalability, deployability, and low cost compared to traditional ground delivery. Hybrid systems, which …
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Pose estimation using overhead imagery and semantics
… allowed for more compact robotic systems such as Micro Aerial Vehicles (MAVs), while developments in camera technologies has allowed for the generation of denser robot perception, such as depth and semantics, derived from environmental cues such as colour, shape and texture. Additionally, with the …
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Characterization and analysis of the flight dynamics of fruit flies
… can serve to one day be able to produce micro aerial vehicles, using the flight dynamics of the fly as the basis of the flight of these vehicles.
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Lightweight Structures Enabled By Microfabrication
… strong or stiff. The recent advancements in microfabrication have allowed the manufacture of structures with unprecedented properties. In this work, three strategies of achieving lightweight structures are explored: (1) hollowing, (2) folding, and (3) lightweight composites. The first …
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Belief-Space Planning for Real-World Systems: Efficient SLAM-Based Belief Propagation and Continuous-Time Safety
… stand to benefit the most, such as SLAM-reliant Micro-Aerial Vehicles (MAVs). The most fundamental of these challenges is that of efficiently propagating the state belief, particularly under SLAM-based estimation schemes like Visual-Inertial Odometry (VIO). This thesis describes a structureless …
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Perching with fixed wings
… ability to remotely maneuver small Unmanned Aerial Vehicles (UAVs) far outside the flight envelope of conventional autopilots. Given the tremendous thrust-to-weight ratio available on these small machines [1, 2], linear control approaches have recently produced impressive demonstrations that …
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Visual-Inertial State Estimation With Information Deficiency
… is required. For autonomous systems such as micro aerial vehicles and self-driving cars, it is a prerequisite for control and motion planning. For AR/VR applications, it is the first step to image rendering. Visual-inertial odometry (VIO) is the de-facto standard algorithm for embedded …
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Algorithmic Aspects of Perception-Aware Motion Planning on Resource-Constrained Platforms
Autonomous micro aerial vehicles (MAVs) are becoming an integral tool in numerous applications involving time-critical missions in GPS-denied environments. Due to their small size and lean energy budget, MAVs are often equipped with a camera to aid ego-localization. This introduces at least two …
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Development and evaluation of a collision avoidance system for supervisory control of a micro aerial vehicle
… technological advances have enabled Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) to become increasingly prevalent in a variety of domains. From military surveillance to disaster relief to search-and-rescue tasks, these systems have the capacity to assist in difficult or …
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Modeling, Designing, Building, and Testing a Microtubular Fuel Cell Stack Power Supply System for Micro Air Vehicle (MAVs)
… and prototyping of a fuel cell stack system for micro aerial vehicles (MAVs) was conducted by Virginia Tech in collaboration with Luna Innovations, Inc, in an effort to replace the lithium battery technology currently powering these devices. Investigation of planar proton exchange membrane (PEM) …
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Design of a Hybrid Micro Aerial Vehicle Concept with Multicopter and Vectored Thrust Modes of Flight
In recent years, the speed and agility of micro-aerial vehicles (MAVs) have been greatly improved by advances in embedded computing and control theory. Controllers utilizing techniques such as incremental nonlinear dynamic inversion have enabled tracking of aggressive trajectories and high rate …
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