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Platform communication setup in experiment. The remote PC takes position and attitude feedback from motion capture system, runs the high-level controller, and sends commands to each quadcopter through radio communication.

Platform communication setup in experiment. The remote PC takes position and attitude feedback from motion capture system, runs the high-level controller, and sends commands to each quadcopter through radio communication.

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Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may counteract others due to close proximity, which significantly threatens the stability of the platform. The complexity...

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... the onboard controller regulates the tilting and twisting angles to desired values and provides the required thrust. The measurement rate of the motion capture system, the remote PC controller, and the data communication with each quadcopter are all set to 100 Hz. The quadcopter's onboard controller is set to 500 Hz for fast low-level response. Fig. 6 shows the software architecture. Fig. 7 summarizes the simulation results of two overactuated UAV platforms with the proposed downwash effect model introduced in Section II-C. For the platform that has four 3-DoF thrust generators, a reference attitude trajectory is designed where the downwash effects occur twice (Fig. 7a). As we can ...

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