Presented in this paper are the design and experiments for a transformable Vertical Take Off and Landing (VTOL) UAV. This work demonstrates shape-shifting transformation, building upon the conceptual designs put forth in  and , along with hardware prototyping and component testing from . A deterministic model is presented to characterize the flight of the MIST-UAV in simulation. Experimental results from the platform demonstrate for the first time successful in-air transformation from multi-rotor, tail-sitter, and fixed-wing operation. Experiments also validated transformation repeatability, successfully testing multiple sequential transformations.
|Original language||English (US)|
|Title of host publication||2019 International Conference on Robotics and Automation, ICRA 2019|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - May 2019|
|Event||2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada|
Duration: May 20 2019 → May 24 2019
|Name||Proceedings - IEEE International Conference on Robotics and Automation|
|Conference||2019 International Conference on Robotics and Automation, ICRA 2019|
|Period||5/20/19 → 5/24/19|
Bibliographical noteFunding Information:
VII. ACKNOWLEDGEMENTS This material is based upon work partially supported by the National Science Foundation through grants IIS-1427014, CNS-1439728, CNS-1531330, and CNS-1544887. Sentera Inc. and Honeywell Inc. have also supported parts of this work. Ruben D’Sa was supported by a National Science Foundation Graduate Research Fellowship No. 00039202.
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