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Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator

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4 Author(s)
Abeywardena, D. ; Centre for Intell. Mechatron. Syst., Univ. of Technol., Sydney, NSW, Australia ; Kodagoda, S. ; Dissanayake, G. ; Munasinghe, R.

quadrotor microaerial vehicles (MAVs) are simple robotic platforms with regard to their construction. In their basic form, they are no more than two counterrotating propeller pairs attached symmetrically to a rigid crosslike frame, along with the means to control the speed of each individual propeller. This symmetric design has enabled the quadrotor to become a simple but powerful vertical takeoff and landing aerial platform popular among the robotics community.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:20 ,  Issue: 4 )