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Abstract:
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Designing a controller that is scalable, robust,
and that can adapt to an arbitrary configuration is one of
the major challenges of modular robotics. This paper takes
one step forward in addressing this challenge by presenting
a methodology for controlling any configuration of a modular
flying robot, in this case the Distributed Flight Array (DFA).
In this work we present a well-structured, parameterized
controller and describe a method for optimizing its parameters
in order to achieve the best possible performance subject
to the system’s physical constraints. We then show how the
configuration space of the DFA can be parameterized by only
a few variables and propose a straightforward approach for
mapping this configuration space to its control parameter space.
The result is a single controller for any configuration of the
DFA. |
