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Progress Report
STARMAC Overview Video
STARMAC System
Exterior Frame
Agile
STARMAC Quadrotor Helicopter
Angular accelerations and vertical acceleration are controlled by varying the propeller speeds.
Aerodynamic Effects
Quadrotor Altitude Control
Quadrotor Attitude Control
Disturbance Rejection
Disclaimer
Line Tracking
Follows planned path, no corner cuttin
PID Cross-Track Position Tracking
PI Along-Track Velocity Tracking
Transform Commands to Body Frame
Quadrotor Position Control
Safe (in our experience)
STARMAC Payloads
PC/104 (0.45 kg)
1.8 GHz with 1 GB RAM
16 GB hard drive running Linux
Stereo Camera (0.14 kg)
Videre Stereo-on-Chip (STOC)
SRI SVS on FPGA
640x480 at 30 fps
LIDAR (0.14 kg)
Hokuyo URG-04LX
5 m range, 240° field of view
240 points / sweep, at 10 Hz
Rescue Transceiver (0.10 kg)
Measures rescue beacon transmitter
1 Hz magnetic measurements
New Code Architecture
Onboard Electronics System
Mobile Sensor Network Control
Information Theoretic Control
Rescue Beacon Search Demonstration
Search area: 9x9 m
Keep away distance: 2 m
Next Steps
Human/Machine Mixed Initiative Control
Convergence Analysis for Learning Schemes