Vision-Based Indoor Helicopter Testbed

Shuo Han, Andrew D. Straw, Michael H. Dickinson, and Richard M. Murray, A Real-Time Helicopter Testbed for Insect-Inspired Visual Flight Control, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan, May 2009. [PDF]

Related Videos

	Hovers in place with only the throttle controlled manually. The aileron, elevator, and rudder are controlled by computer using 3 separate proportional-derivative (PD) controllers. Download video: WMV (8.0 MB), AVI (41.7 MB) * Videos from other trials are also available: 1, 2
	Another video where the vision tracking system can be seen. Download video: WMV (5.8 MB)
	Yaw rate control using estimation from a matched filter. Download video: MP4 (4.2 MB)

Vision-Based Indoor Helicopter Testbed

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