Quadrotor Control on $\text{SU}(2)\times \mathbb{R}^{3}$ with SLAM Integration

We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $\text{SU}(2) \times \mathbb{R}^{3}$, and relate this result to a family of geometric tracking controllers on $\text{SO}(3) \times \mathbb{R}^{3}$. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) system through an onboard extended Kalman filter (EKF). The proposed con-trol system can be used for inventorying tasks in a supermarket environment without the need for external positioning systems.