An embedded controller for quad-rotor flying robots running distributed algorithms

Multiple collaborating quad-rotor flying robots are useful in a broad range of applications, from surveillance with onboard cameras to reconfiguration of wireless networks. For these applications, it is often advantageous to have the robot team be a distributed system. In this thesis, an embedded controller capable of running distributed algorithms is presented for the quad-rotor flying robot. The robot platform is first characterized to help guide the design of the embedded control module. These modules are fabricated and tested on the quad-rotor flying robots in both indoor and outdoor environments. To propagate state estimates throughout the robot team, a location-based multi-hop algorithm is proposed. Network limitations, such as sub-optimal bandwidth and finite communication range, are implemented in hardware-in-the-loop simulations to determine system performance. A novel coverage algorithm for multiple hovering robots with downward facing cameras is then demonstrated on the embedded controller. The results from numerous indoor and outdoor experiments are discussed.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2009

Author dc:creator

• Julian, Brian John

Advisor dc:contributor.advisor

• Daniela L. Rus.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/55130

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/55130