An interview about my thesis

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.


Collaborative transportation

So far all my results with rotorcraft were in simulation… until now! In this experiment, performed at TU-Delft (thanks Ewoud Smeur!), a team of four rotorcraft behaves as a single unit. The proved stability properties of the whole system allows for applications such as collaborative transportation of objects.

Formation flights!

A less technical demonstration of my multi-uav work. In this video you can enjoy the aerobatic maneuver of having two aircraft in the same line but with opposite direction! This is possible thanks to the given accuracy by the guidance vector field.

Hybrid vehicle!

Our VTOL vehicle is in the air! Collaboration with MAV lab at Delft university.

Laser scanners and formation control.

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.

Guidande vector field for drones


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.