Fig 7 - uploaded by Yao Su
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Communication setup of the platform in experiment. A ground PC takes feedback from OptiTrack motion-capture system and runs the high-level controller at 100 Hz. Each quadcopter receives signals from the ground PC and runs low-level controller at 500 Hz

Communication setup of the platform in experiment. A ground PC takes feedback from OptiTrack motion-capture system and runs the high-level controller at 100 Hz. Each quadcopter receives signals from the ground PC and runs low-level controller at 500 Hz

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Preprint
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Multirotor copters with full six Degree of Freedom (DoF) maneuvering are often overactuated. The control allocation of overactuated UAV platforms can have an infinite number of solutions due to their redundancy. The most common allocation framework is based on Force Decomposition (FD), which provides a robust least-square solution and is easy to im...

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... power to implement the optimization algorithms. The desired magnitude of thrusts and joint angles are wirelessly sent to each quadcopter by Crazy Radio PA antennas at 100 Hz. Each quadcopter is capable of tracking these desired signals with all the necessary onboard computation, sensing, and actuation. The communication structure is shown in Fig. 7. ...

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