NDLI: An indoor autonomous flight of multiple ornithopters following a circular path

Content Provider	IEEE Xplore Digital Library
Author	Ho-Young Kim Jun-Seong Lee Jae-Hung Han
Copyright Year	2014
Description	Author affiliation: Dept. of Aerosp. Eng., KAIST, Daejeon, South Korea (Ho-Young Kim; Jun-Seong Lee; Jae-Hung Han)
Abstract	This work demonstrates an autonomous flight of multiple ornithopters in an indoor flight environment. The tested ornithopters have no on-board sensor for flight state estimation or feedback control. Instead, the indoor flight environment with a motion capture system provides flight state variables by tracking the markers on the ornithopters, and the corresponding control inputs are externally processed and transmitted via a 2.4GHz radio frequency. A feedback controller is designed for each ornithopter to follow a circular path with a desired altitude and radius. To avoid collision between flying ornithopters, the angular speed of each ornithopter is controlled by changing the desired radius of each ornithopter. The ornithopters successfully performed an autonomous formation flight in a confined indoor environment following a commanded circular path with a constant altitude.
Starting Page	844
Ending Page	847
File Size	1226697
Page Count	4
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987897
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	autonomous flight motion capture system Ornithopter Biology Robots
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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