UPenn

 

After having starting point, barrirers and destination, how to get a safe trajectory?

State estimate:

sub milimeter accuracy in lab

 GPS for large airplane

 But indoors, no GPS.

 

How???

 

 

SLAM !!!

 4X

 

1 camera

markers as beacons

Applications:

 

 

also multiple vehicles collaborating

 

 

 

 

response to 911 call

 

 1,Basic Mechanics

 

https://www.quora.com/Why-cant-all-the-motors-of-a-quadcopter-rotate-in-the-same-direction

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

                  disturbance and recovery

              over shoot and recovery

 

 

 

 

 

  

 

 

 

 

 

 battery selection

  

 Actually hovering is an inefficient mechanism !!!

Bolt: 20W/kg

bicyclist: 6W/kg

 fat of tissue carries 10kw per kg

 ↓ have to build smaller and more light-weight quadrators in lab

 

 

 

 

 

 

 

 

 

$v_0^2 - v^2 = 2ax, where v=0 here.$

 

 

 

 

 

 

 

 

 $frac{9600}{2815-130}$

 

 

 

 

 

 

 

       in short