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 116 for “"Quadrotor"”.
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Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft
… attitude and position setpoint tracking to a quadrotor aircraft, achieved by solving the problem of a quadrotor’s inherent underactuation. The introduction of extra actuation aims to mechanically accommodate for stable tracking of non-zero state trajectories. The requirement of the project is …
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Sensing Atmospheric Winds from Quadrotor Motion
… UAS for wind sensing. The parameters of three quadrotor motion models, consisting of a kinematic particle, a dynamic particle, and a dynamic rigid body models are developed to measure wind velocity in hovering flight. Wind tunnel and steady level flight tests are used to characterize kinematic …
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Sizing Tool for Quadrotor Biplane Tailsitter UAS
The Quadrotor-Biplane-Tailsitter (QBT) configuration is the basis for a mechanically simplistic rotorcraft capable of both long-range, high-speed cruise as well as hovering flight. This work presents the development and validation of a set of preliminary design tools built specifically for this …
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Time-Optimal Re-planning of Quadrotor Trajectories
With the rise of quadrotor drones in recent years, the research and development of time-optimal trajectory planners are pushing the boundaries. They now not only exploit the full dynamics of the drone to generate aggressive trajectories but also have runtimes that allow them to generate plans in …
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Analysis of a quadrotor in forward flight
In general, quadrotors are designed to be stabilized about hover conditions. This allows the dynamics of the vehicle to be linearized about a single equilibrium point. Additionally, aerodynamic effects can be neglected leaving only rigid body dynamics to be modeled. While this formulation works …
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A Multiplayer Target Defense Game Between Quadrotor Teams
The rapid development of unmanned aerial vehicles (UAVs) has created enormous opportunities as well as emerging security risks. As increasing drone accidents and threats have been reported, the research interest in counter-UAV missions has also grown. The goal of this thesis is to find a guidance …
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Lossless convexification of quadrotor motion planning with experiments
… method that is designed to guide an autonomous quadrotor. The proposed method is based on a novel lossless convexication, which was first introduced in (12), that allows convex representations of many non-convex control constraints, such as that of the quadrotors. The second contribution of this …
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Position control of a quadrotor using limited information
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-03-28 without embargo terms
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Autonomous quadrotor unmanned aerial vehicle for culvert inspection
… prior progress creating an autonomous indoor quadrotor, many basic hardware and software issues are solved. The main new functionality needed for the culvert inspection task was to utilize the Global Positioning System (GPS) available outdoors to make up for the relative scarcity of objects …
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Planning and control for quadrotor flight through cluttered environments
Previous demonstrations of autonomous quadrotor flight have typically been limited to sparse environments due to the computational burden associated with planning for a large number of obstacles. We hypothesized that it would be possible to do efficient planning and robust execution in …
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Ml Controllers With Memory For Robust Quadrotor Control And Research
… hardware damage, behaving unsafely or the quadrotor crashing. In order to collect the required data over many action/time steps while also avoiding undesirable system effects, leaned controllers are typically learned on simulated systems. These simulations usually utilize different physics …
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Design and validation of a large scale vertically propelled quadrotor
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-09-16 without embargo terms
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Design and control of an autonomous variable-pitch quadrotor helicopter
… a recent rise in the popularity of fixed-pitch quadrotor helicopters. The fixed-pitch quadrotor is popular largely because of its mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the types of …
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An analysis of quadrotor flight in the urban canopy layer
… presents two distinct bodies of work concerning quadrotor flight in urban wind fields. The first attempts to characterize a quadrotor's ability to exploit urban wind fields for improved flight performance. A computational fluid dynamics model is used to obtain a wind field estimate given a 3D …
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Viability and Validation of Near-Passive Descent Control for Quadrotor Systems
A quadrotor unmanned aerial vehicle capable of lifting small payloads can be used to deliver small payloads from high altitudes rapidly and with high accuracy. This thesis explores the viability of three methods for delivering a quadrotor capable of lifting small payloads using near-passive means …
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