Dancing Quadrocopters: Trajectory Generation, Feasibility, and User Interface
Federico Augugliaro · Repository for Publications and Research Data (ETH Zurich) · 2011
This Master Thesis presents various tools that enable the generation of quadrocopter choreograpies for the Flying Machine Arena.The goal of this thesis was to facilitate the design of multi-vehicle choreographies through the developement of a graphical user interface.The resulting software allows the user to easily define trajectories for the quadrocopters.In addition, the feasibility of a choreography can be assessed using the program.In the first part of this work, we provide the mathematical foundation of the developed methods: Different motion primitives are introduced and their trajectories are defined.A method that determines the feasibility of arbitrary trajectories is demonstrated.Then, an algorithm that exploits convex optimization in order to plan collision-free trajectories for multiple quadrocopters is described.In the second part of this work, we introduce the software tool which was developed as a part of this thesis.v