Sharif Digital Repository

The main interest of this study is designing a correction algorithm for intersecting trajectories of two flying robots. For this purpose, path planning algorithms were studied and Rapidly-exploring random tree (RRT) was chosen as a proper algorithm for flying robots in urban environments which is modified for the problem. It should be considered that this project focuses on path correction therefore initial path could be produced by any suitable algorithm. In addition, new paths were designed with flying robots’ performance equations. The correction was done so the paths differ as little as possible in comparison to the original path. Since there are no flight regulations available for... 

In this project, the final goal is to create a team consisting of a UGV and a quadrotor capable of relative tracking and coordinated landing, with focus on quadrotor control. What we mean by cooperative control in this project is control of quadrotor for the purpose of cooperation with a UGV; This should not be mistaken with another sense of cooperative control in which the control algorithms are developed for both of the robots or are based on the interactive dynamics of the robots.In order to accomplish this goal, an experimental testbed consisting of a quadrotor and a UGV capable of communication and data exchange was developed as a first step. The quadrotor was constructed using...