I4Copter: An Adaptable and Modular Quadrotor Platform

Ulbrich P, Kapitza R, Harkort C, Schmid R, Schröder-Preikschat W (2011)

Publication Type: Conference contribution

Publication year: 2011

Publisher: ACM

Edited Volumes: Proceedings of the ACM Symposium on Applied Computing

City/Town: New York, NY, USA

Pages Range: 380-396

Conference Proceedings Title: Proceedings of the 26th ACM Symposium on Applied Computing

Event location: TaiChung, Taiwan TW

ISBN: 978-1-4503-0113-8

URI: https://www4.cs.fau.de/Publications/2011/ulbrich_11_sac.pdf

DOI: 10.1145/1982185.1982267

Abstract

Quadrotor helicopters are micro air vehicles with vertical take-off and landing capabilities controlled by varying the rotation speed of four fixed pitch propellers. Due to their rather simple mechanical design they have grown to popularity as platform for various research projects. Despite most of them being individually highly successful, they are typically tailored to a specific purpose making it hard to utilise them for further research and education. In this paper, we present the novel design of the I4Copter quadrotor. It has been developed to provide a stable demonstration quadrotor platform for various kinds of research and education projects targeting cross-field challenges in real-time and embedded systems, distributed systems, robotics and cybernetics. The modular and open architecture of our platform allows an application- specific, fine-grained extension, adaption and replacement of software and hardware components. The safe extensibility is supported by strict temporal and spatial isolation between the software modules. We validated our approach by two distinct cross-field use cases: an evaluation platform for modularised control algorithms enabling trajectory tracking and an implementation that is resilient to transient hardware errors. © 2011 ACM.

Authors with CRIS profile

Peter Ulbrich Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme) Rüdiger Kapitza Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme) Christian Harkort Chair of Automatic Control (LRT/AC) Wolfgang Schröder-Preikschat Lehrstuhl für Informatik 4 (Verteilte Systeme und Betriebssysteme)

Related research project(s)

Adaptive Responsive Embedded Systems (ESI 2) (ARES) ESI-Anwendungszentrum für die digitale Automatisierung, den digitalen Sport und die Automobilsensorik der Zukunft Jan. 1, 2010 - Dec. 31, 2018

Involved external institutions

Siemens AG DE Germany (DE)

How to cite

APA:

Ulbrich, P., Kapitza, R., Harkort, C., Schmid, R., & Schröder-Preikschat, W. (2011). I4Copter: An Adaptable and Modular Quadrotor Platform. In Proceedings of the 26th ACM Symposium on Applied Computing (pp. 380-396). TaiChung, Taiwan, TW: New York, NY, USA: ACM.

MLA:

Ulbrich, Peter, et al. "I4Copter: An Adaptable and Modular Quadrotor Platform." Proceedings of the 26th ACM Symposium on Applied Computing (SAC '11), TaiChung, Taiwan New York, NY, USA: ACM, 2011. 380-396.

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