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ee490-11papers [2011/01/05 12:40]
jcm76
ee490-11papers [2011/01/21 09:15]
jcm76
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 ====== Quadrotor Dynamics ====== ====== Quadrotor Dynamics ======
-  * Caleb'​s ​Thesis or something else here...+  * {{:​quadrotor:​beardsquadrotornotes.pdf|Dr. Beard'​s ​Quadrotor Notes}} 
 +    * Used as the basis for much of John Macdonald'​s January 24th presentation. 
 +    * These notes were originally developed for the first quadrotor senior project (circa 2007?​). ​ For context, in that project they were trying to stabilize a quadrotor with a downward looking camera that could see (and hopefully follow) a ground robot. ​ That context is sometimes implicity incorporated into these notes... 
 +  * {{:​quadrotor:​the_true_role_of_accelerometer_feedback_in_quadrotor_control.pdf|"​The French Paper" (as we call it)}}  on quadrotor dynamics. 
 +    * If you love dynamics and want to digest a more detailed model of what's happening on the quadrotor, this paper is for you...
  
 ====== Sources for our Navigation Approach ====== ====== Sources for our Navigation Approach ======
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      * This is an important point of reference as their team won the 2009 IARC in its first try.      * This is an important point of reference as their team won the 2009 IARC in its first try.
      * For laser-based nav, we want to exactly mimic their laser scan matching approach. ​ See also this paper'​s bibliography for references to that algorithm.      * For laser-based nav, we want to exactly mimic their laser scan matching approach. ​ See also this paper'​s bibliography for references to that algorithm.
-     * For additional details on their approach, see also {{:​quadrotor:​bachrach_emav09.pdf|this paper from a European MAV conference}} ​ or {{:​quadrotor:​bachrachthesis09.pdf|Bachrach'​s Masters Thesis}}+     * For additional details on their approach, see also {{:​quadrotor:​bachrach_emav09.pdf|this paper from a 2009 European MAV conference}} ​ or {{:​quadrotor:​bachrachthesis09.pdf|Bachrach'​s Masters Thesis}}
   * {{:​quadrotor:​grzonkagrisettiburgard09.pdf|"​Toward a Navigation System for Autonomous Indoor Flying,"​}} ​ by Grzonka, Grisetti, Burgard, in ICRA 2009.    * {{:​quadrotor:​grzonkagrisettiburgard09.pdf|"​Toward a Navigation System for Autonomous Indoor Flying,"​}} ​ by Grzonka, Grisetti, Burgard, in ICRA 2009. 
      * Provides a tutorial overview of the considerations involved in designing a navigation system using a Hokuyo laser range finder for our type of platform.      * Provides a tutorial overview of the considerations involved in designing a navigation system using a Hokuyo laser range finder for our type of platform.