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IBUKI TATSUYA
Department Undergraduate School , School of Science and Technology Position Associate Professor |
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| Language | English |
| Publication Date | 2024/06 |
| Type | Academic Journal |
| Peer Review | Peer reviewed |
| Title | Hoverable Structure Transformation for Multirotor UAVs with Laterally Actuated Frame Links |
| Contribution Type | Co-authored (other than first author) |
| Journal | Advanced Robotics |
| Journal Type | Another Country |
| Publisher | The Robotics Society of Japan (RSJ) |
| International coauthorship | International coauthorship |
| Author and coauthor | Riku Funada, Mustafa Soliman, Tatsuya Ibuki, Mitsuji Sampei |
| Details | This paper presents motion planning strategies that assure stable hovering for a transformable unmanned aerial vehicle throughout its transformation. We first introduce the concept of hoverability, which assures static hovering with a linear state feedback controller. Because the hoverability can be evaluated quantitatively by utilizing a convex hull yielded by the positions of rotors, we propose motion planning methods that leverage the hoverability to achieve transformation while guaranteeing stable hovering with desired margin. The proposed motion planning is designed to secure the specified threshold for hoverability and avoid interferences between links or rotors. We then present two types of costs for motion planning: one minimizes the transformation duration, and the other maximizes the hoverability during the transformation. |