Sharif Digital Repository

In this document, the cooperative estimation of states between two interceptors and one target is expressed in order to evaluate the effect of information sharing in different situations on the estimation performance. Due to the importance of the proper estimation of the target acceleration in advanced navigation rules, the main focus of the document is on a more precise estimation of the absolute states of the target. For this purpose, a filter based on the extended Kalman filter was used as an estimator, and to evaluate the promotion of the estimation performance, the combination of measured data was used in two different ways. Matlab Simulink is the simulation software used. The dynamics... 

In this research, the aerial load transportation in the urban environment by cooperative quadrotors is investigated. This system requires two sub-systems: path planning and control. The path planning subsystem designs the payload's path and at the same time determines the shape of the flight formation of agents in order to be able to carry the payload. The design of the path-formation is done in the presence of constraints such as the collision avoidance with obstacles, inter-collision avoidance to each other, the collision avoidance of the slung load with the obstacles and the minimum and maximum allowable cables' forces. Therefore, the shape of the formation flight is determined...