A Platform for Aerial Robotics Research and Demonstration: The Flying Machine Arena

Authors

Sergei Lupashin, Markus Hehn, Mark W. Mueller, Angela P. Schoellig, Michael Sherback, Raffaello D'Andrea

Year

2014

Journal Paper

Source

Mechatronics

Identifiers

DOI 10.1016/j.mechatronics.2013.11.006

Abstract¶

The Flying Machine Arena is a platform for experiments and demonstrations with fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust communication layers. An estimation and control framework along with built-in system protection components enable prototyping of new control systems concepts and implementation of novel demonstrations. More recently, a mobile version has been featured at several eminent public events. We describe the architecture of the Arena from the viewpoint of system robustness and its capability as a dual-purpose research and demonstration platform.