APPLIED MATHEMATICS seminar
A GEOMETRIC APPROACH TO TRAJECTORY GENERATION FOR QUADROTORS
SPEAKER: Fabrizio Boriero (Department of Computer Sciences, University of Verona)
DATE: Wednesday, 30 January 2019 - 11:30
VENUE: Aula Naranja, ICMAT
ABSTRACT: In the last decade, multi-rotors flying robots had a rapid development in industry and hobbyist communities thanks to the affordable cost and their availability of parts and components. The high number of degrees of freedom and the challenging dynamics of multi-rotors gave rise to new research problems. In particular, we are interested in the development of technologies for an autonomous fly that would allow using multi-rotors systems to be used in contexts where the presence of humans is denied, for example in post-disaster areas or during search-and-rescue operations.
Multi-rotors are an example of a larger category of robots, called “under-actuated mechanical systems” (UMS) where the number of actuated degrees of freedom (DoF) is less than the number of available DoF.
In this seminar I will present the application of methods coming from geometric
mechanics to study the under-actuation problem and proposes a novel method, based on a Hamiltonian formalism, to plan a feasible trajectory for UMS, in particular for a quadrotor model.