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Design and Synthesis of a Hierarchical Hybrid Controller for Quadrotor Navigation


Abstract There has been exciting progress in the area of Unmanned Aerial Vehicles (UAV) in the last decade, especially for quadrotors due to their nature of easy manipulation and simple structure. A lot of research has been done on achieving autonomous and robust control for quadrotors. Recently researchers have been utilizing linear temporal logic as mission specification language for robot motion planning due to its expressiveness and scalability. Several algorithms have been proposed to achieve autonomous temporal logic planning. Also, several frameworks are designed to compose those discrete planners and continuous controllers to make sure the actual trajectory also satisfies the mission specification. However, most of these works use first-orde... (more)
Created Date 2016
Contributor Zhang, Xiaotong (Author) / Fainekos, Georgios (Advisor) / Ben Amor, Heni (Committee member) / Shrivastava, Aviral (Committee member) / Arizona State University (Publisher)
Subject Computer engineering / Cyber-Physical Systems / Hybrid Controller / Quadrotor
Type Masters Thesis
Extent 78 pages
Language English
Copyright
Reuse Permissions All Rights Reserved
Note Masters Thesis Computer Science 2016
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis