Multicopter Dynamics and Control: Surviving the complete loss of multiple actuators and quickly generating trajectories

Lecture | February 24 | 4-5 p.m. | 290 Hearst Memorial Mining Building

 Mark Mueller, UC Berkeley

 Institute of Transportation Studies

Abstract: Flying robots, such as multicopters, are increasingly becoming part of our everyday lives, with current and future applications including personal transportation, delivery services, entertainment, and aerial sensing. These systems are expected to be safe and to have a high degree of autonomy. This talk will discuss the dynamics and control of multicopters, including some research results on trajectory generation for multicopters and fail-safe algorithms. We will also discuss the intersection of drones with personal transportation, and discuss some of the dominant scaling laws affecting the use of multicopters for personal transportation. Finally, we will present the application of a failsafe algorithm to a fleet of drones performing as part of a live theatre performance on New York's Broadway.

Bio: Mark W. Mueller joined the mechanical engineering department at UC Berkeley in September 2016. He completed his PhD studies, advised by Prof. Raffaello D'Andrea, at the Institute for Dynamic Systems and Control at the ETH Zurich at the end of 2015. He received a bachelors degree from the University of Pretoria, and a masters from the ETH Zurich in 2011, both in Mechanical Engineering.