- All Categories
- Featured Events
- Alumni
- Application Deadline
- Arts
- Campus Discourse
- Careers
- BU Central
- Center for the Humanities
- Charity & Volunteering
- Kilachand Center
- Commencement
- Conferences & Workshops
- Diversity & Inclusion
- Examinations
- Food & Beverage
- Global
- Health & Wellbeing
- Keyword Initiative
- Lectures
- LAW Community
- LGBTQIA+
- Meetings
- Orientation
- Other Events
- Religious Services & Activities
- Special Interest to Women
- Sports & Recreation
- Social Events
- Study Abroad
- Weeks of Welcome
MechE PhD Thesis Defense: Dingjiang Zhou
TITLE: A CONTROL ARCHITECTURE AND HUMAN INTERFACE FOR AGILE, RECONFIGURABLE MICRO AERIAL VEHICLE FORMATIONS Abstract: This thesis considers the problem of controlling a group of micro aerial vehicles for agile maneuvering cooperatively, or distributively. We rst introduce the background and motivation for micro aerial vehicles, especially for the popular multi-rotor aerial vehicle platform. Then, we discuss the dynamics of quadrotor helicopters. A quadrotor is a speci c kind of multi-rotor aerial vehicle, and its dynamics has a special property called di erential atness, which is not common for nonlinear systems. The property of di erential flaatness simpli es the algorithm of trajectory planning, such that instead of planning a trajectory in a 12-dimensional state space and 4-dimensional input space, we only need to plan the trajectory in 4-dimensional, so called, at output space, while the 12-dimensional state and 4-dimensional input can be recovered from an endogenous transformation, governed by the di erential flatness property. COMMITTEE: Prof. Mac Schwager (ME) (advisor) Prof. John Baillieul (ME) Prof. Calin Belta (ME) Prof. Hua Wang (ME)
| When | 10:00 am - 12:00 pm on 1 December 2016 |
|---|---|
| Building | 110 Cummington, Room 245 |