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Autonomous control of unmanned aerial multi-agent networks in confined spaces

Green, Sebastian and Månsson, Pontus (2019)
Department of Automatic Control
Abstract
In this thesis, the functionality of existing Crazyflie models is extended to include current implementations of attitude and velocity control. The models are validated both as individual agents and as a swarm through comparisons of swarm behaviour during step, ramp and frequency response testing. The models are found to accurately replicate the dynamics of the real system, but additional research on measurement noise and accuracy would be necessary to ensure that the model remains accurate in less than ideal conditions. Several suggestions for further improvements are presented. Additionally, two separate swarm controllers are implemented and tested in a simulated environment as well as the real world to demonstrate the capabilities
of... (More)
In this thesis, the functionality of existing Crazyflie models is extended to include current implementations of attitude and velocity control. The models are validated both as individual agents and as a swarm through comparisons of swarm behaviour during step, ramp and frequency response testing. The models are found to accurately replicate the dynamics of the real system, but additional research on measurement noise and accuracy would be necessary to ensure that the model remains accurate in less than ideal conditions. Several suggestions for further improvements are presented. Additionally, two separate swarm controllers are implemented and tested in a simulated environment as well as the real world to demonstrate the capabilities
of the model and to evaluate the controller usability in a number of practical use cases. Both controllers are found to behave well on the Crazyflie system, and demonstrate the practicality of the Crazyflie platform as well as the controllers implemented. (Less)
Please use this url to cite or link to this publication:
author
Green, Sebastian and Månsson, Pontus
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
report number
TFRT-6084
ISSN
0280-5316
language
English
id
8991431
date added to LUP
2019-08-30 09:29:09
date last changed
2019-08-30 09:29:09
@misc{8991431,
  abstract     = {In this thesis, the functionality of existing Crazyflie models is extended to include current implementations of attitude and velocity control. The models are validated both as individual agents and as a swarm through comparisons of swarm behaviour during step, ramp and frequency response testing. The models are found to accurately replicate the dynamics of the real system, but additional research on measurement noise and accuracy would be necessary to ensure that the model remains accurate in less than ideal conditions. Several suggestions for further improvements are presented. Additionally, two separate swarm controllers are implemented and tested in a simulated environment as well as the real world to demonstrate the capabilities
of the model and to evaluate the controller usability in a number of practical use cases. Both controllers are found to behave well on the Crazyflie system, and demonstrate the practicality of the Crazyflie platform as well as the controllers implemented.},
  author       = {Green, Sebastian and Månsson, Pontus},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  title        = {Autonomous control of unmanned aerial multi-agent networks in confined spaces},
  year         = {2019},
}