Development of a multi-agent quadrotor research platform with distributed computational capabilities

dc.contributor.advisor Nicola Elia Mcinerney, Ian
dc.contributor.department Electrical and Computer Engineering 2018-08-11T13:30:09.000 2020-06-30T03:04:55Z 2020-06-30T03:04:55Z Sun Jan 01 00:00:00 UTC 2017 2001-01-01 2017-01-01
dc.description.abstract <p>Research on multi-agent systems of UAVs is of growing interest in the research community, with specific interest in the testing of novel algorithms on actual systems. Many existing testbeds already exist, but the majority of them utilize expensive quadrotors for their agents. With the recent surge in interest from consumers, companies have started to market lower cost quadrotor options. One such option is the Crazyflie 2.0 from Bitcraze. This quadrotor measures just 10cm from rotor to rotor, uses open-source firmware, and has developed a strong community backing. This work develops a multi-agent testbed using the Crazyflie 2.0.</p> <p>This work presents a parameterization of the Crazyflie quadrotor so it can be modeled and have more advanced controllers designed for it. Additionally, this work discusses the default control loop of the Crazyflie 2.0. Then nested-loop PID controllers are designed and compared against the simulated physics model.</p> <p>A software system that is capable of controlling multiple flying Crazyflie's is also presented. This system is also capable of modifying the controller at runtime, and implementing distributed computation on the Crazyflie.</p> <p>Finally, a novel algorithm for localization of a target object using distance-only measurements is presented. This algorithm uses optimization dynamics to solve a non-convex QCQP formulation of the problem in a distributed manner. The algorithm is presented and then implemented using the distributed computation framework presented in this work.</p>
dc.format.mimetype application/pdf
dc.identifier archive/
dc.identifier.articleid 6582
dc.identifier.contextkey 11058048
dc.identifier.s3bucket isulib-bepress-aws-west
dc.identifier.submissionpath etd/15575
dc.language.iso en
dc.source.bitstream archive/|||Fri Jan 14 20:43:15 UTC 2022
dc.subject.disciplines Computer Engineering
dc.subject.disciplines Electrical and Electronics
dc.subject.keywords Crazyflie Quadrotor
dc.subject.keywords Distributed Computation
dc.subject.keywords Distributed Localization
dc.subject.keywords Distributed Trilateration
dc.subject.keywords Multi-agent Testbed
dc.title Development of a multi-agent quadrotor research platform with distributed computational capabilities
dc.type article
dc.type.genre thesis
dspace.entity.type Publication
relation.isOrgUnitOfPublication a75a044c-d11e-44cd-af4f-dab1d83339ff Electrical Engineering thesis Master of Science
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