My university has written a small reportage about my thesis. It is quite illustrative and I am quite happy with it, they have put simple words and made my thesis understandable to non-technical people.
If you are more interested in how my robots behave in one of the key points of my thesis, I prepared the following video time ago :P.
One of my formation flight algorithms applied in the real world. Enjoy!
Our VTOL vehicle is in the air! Collaboration with MAV lab at Delft university.
Video describing the experiments of my submitted paper to IROS 2017 titled Design and implementation of formation control algorithms for fully distributed multi-robot systems. This work highlights the robustness issues with implementing formation control algorithms based on undirected graphs. Consequently, a distributed solution is proposed and verified. Furthermore, a generalization of the approach is presented for achieving simultaneous prescribed formation-motion behaviour of the group in a fully distributed way.
I have written with my friend Yuri Kapitanyuk (the main idea was from him) an algorithm for solving the problem of tracking smooth curves by an unmanned aerial vehicle travelling with a constant airspeed and under a wind disturbance. The algorithm has been successfully tested on actual drones! You can find more details about it at my Guidance Vector Field for drones page.
By a small modification in formation control algorithms, you can make one drone to chase another independent one.
In this video I explain how one of my algorithms is able to guide a team of drones to fly in formation requiring minimum information.
Kalman filter is a must tool in every engineer’s toolbox. I have written a course explaining in a detailed and comprehensive way all the steps involved in the Kalman filter algorithm and its actual implementation. In particular, I have focused on examples and problems very common in drones. The Home with lessons covering up to the Discrete linear Kalman filter are available.
I have written an intuitive flight simulator in Python for controlling quadcopters. In particular, you can try the Formation Control algorithms from my thesis, or to learn how to control the altitude and attitude of one these machines.
I have added a new lesson in the Artificial Intelligence for Mobile Robots course. This time I show, mathematically and with actual code, how to emulate the behavior of fish schools or flocking birds.