IROS 2015 Paper Abstract


Paper WeAT2.6

Bapst, Roman (ETH Zurich), Ritz, Robin (ETH Zürich), Meier, Lorenz (ETH Zurich), Pollefeys, Marc (ETH Zurich)

Design and Implementation of an Unmanned Tail-Sitter

Scheduled for presentation during the Regular session "Unmanned Aerial Systems 4" (WeAT2), Wednesday, September 30, 2015, 09:45−10:00, Saal A4

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 30, 2021

Keywords Unmanned Aerial Systems


We present the design and implementation of a small Vertical-Take-Off-and-Landing (VTOL) aircraft. The vehicle requires minimal additional components to achieve the hover capability and is thus very efficient in forward flight. We improve over the state of the art by using a single controller in all flight modes without using blending between hover condition and fixed wing controllers or gain scheduling. We present a compact airflow estimation model for VTOL airframes which rely on the slipstream across control surfaces for hover attitude control. Furthermore we show attitude and position control results in simulation. Finally we show outdoor flight experiments validating our simulation results.



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