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Subsumption architecture applied to flight control using composite rotations 

Oland, Espen; Andersen, Tom Stian; Kristiansen, Raymond (Peer reviewed; Tidsskriftartikkel; Journal article, 2016-03-19)
In this paper the subsumption theory is applied to flight control through composite rotations where multiple tasks can be defined as simple rotations. The tasks can then be arranged as a hierarchy, where the primary task is always fully pursued, and conflicting lower level tasks are removed by the primary rotation. The concept is applied to a group of uavs that move through an urban terrain while ...
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Underactuated Control of Quadrotors with Collision Avoidance 

Oland, Espen; Andersen, Tom Stian; Kristiansen, Raymond (Journal article; Tidsskriftartikkel; Peer reviewed, 2013)
In this paper a saturated controller is derived that solves the translational control problem for underactuated quadrotors. The controller is applied to multiple quadrotors during a formation reconfiguration where the quadrotors move from an initial position to a desired position. The null-space-based behavioral control method is a popular method for avoiding collisions between mobile agents, and ...

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Filter by Date Issued2016 (1)2013 (1)Filter by Document TypeJournal article (2)
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Andersen, Tom Stian (2)
Kristiansen, Raymond (2)
Oland, Espen (2)
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UiT The Arctic University of Norway
The University Library
uit.no/ub - munin@ub.uit.no