Expandable Fully Actuated Aerial Vehicle Assembly: Geometric Control Adapted from an Existing Flight Controller and Real-World Prototype Implementation
Bibliographic record
Abstract
An assembly composed of multiple aerial vehicles can realize omnidirectional motion with six degrees of freedom. Such an assembly has a heavier payload capacity and better fault tolerance compared with a single aircraft. Thus, such assemblies have the potential to become an ideal platform for manipulation. This paper investigates the controller design and prototype implementation for an expandable aerial vehicle assembly (AVA). The proposed AVA is composed of multiple sub-aircraft connected together via spherical joints at their center of mass. Each sub-aircraft can rotate around the spherical joint. The system dynamics of such an AVA can be separated into a slowly varying system and a fast varying system. The design criteria for a controller for this type of AVA was analyzed based on the similarity between the slowly varying system and a fully actuated rigid aircraft. This can reduce the design procedure for the controller and increase the expandability of the AVA. The stability criteria were carefully analyzed by considering the tracking error of each sub-aircraft. As an example, the controller of the AVA was designed using trajectory linearization control on the manifold, since the configuration space of the aircraft is a non-Euclidean space. A prototype composed of three quadrotors was implemented. The real-time expandable communication protocol among the different sub-aircraft was designed based on the CAN bus. Furthermore, the software and the hardware of the real-world prototype were developed. Both simulation and real-world tests were conducted, which validated the feasibility of the control design and the software implementation for an expandable assembly containing multiple aerial vehicles.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".