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dc.contributor.advisorYakimenko, Oleg
dc.contributor.authorJones, Levi
dc.dateMar-12
dc.date.accessioned2012-05-14T18:55:50Z
dc.date.available2012-05-14T18:55:50Z
dc.date.issued2012-03
dc.identifier.urihttp://hdl.handle.net/10945/6816
dc.description.abstractThis thesis is centered upon an optimal trajectory generation algorithm that allows real-time control for cooperation of multiple quadrotor vehicles for intelligence, surveillance, and reconnaissance missions with minimal user input. The algorithm is designed for an indoor environment where global positioning system data is unavailable or unreliable, forcing the vehicles to obtain position data using other sensors. This thesis specifies the lab setup and well as the control approach used. Data acquired from two experiments is included to demonstrate the effectiveness of the control approach. The control approach described within allows for a fully autonomous system with user input required only at the initiation of a mission. The algorithm blends trajectory planning, trajectory following, and multi-vehicle coordination to achieve the goal of autonomy. The focus of the thesis was on trajectory generation and multi-vehicle coordination, while leveraging existing trajectory following controller implementations. The trajectory generation is accomplished with a direct transcription of the optimization problem that leverages inverse dynamics and separates spatial and temporal planning. The vehicle motion is constrained, and simplifying multi-vehicle coordination assumptions allow for the efficient solution and execution of the problem.en_US
dc.description.urihttp://archive.org/details/coordinationndco109456816
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleCoordination and Control for Multi-Quadrotor UAV Missionsen_US
dc.typeThesisen_US
dc.contributor.secondreaderToit, Noël Du
dc.contributor.departmentMechanical Engineering
dc.subject.authorQuadrotoren_US
dc.subject.authorCooperationen_US
dc.subject.authorQuanseren_US
dc.subject.authorLQRen_US
dc.subject.authorDirect Methodsen_US
dc.subject.authorTrajectory Generationen_US
dc.subject.authorTrajectory Followingen_US
dc.subject.authorOptimizationen_US
dc.subject.authorInverse Dynamicsen_US
dc.subject.authorIDVD.en_US
dc.description.serviceLieutenant, United States Navyen_US
etd.thesisdegree.nameMaster of Science In Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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