Control and Path Planning for Agile Maneuvers of a Tethered Suspended Drone

Institut

Professur für eAviation

Typ

Bachelorarbeit / Semesterarbeit / Masterarbeit /

Inhalt

 

Beschreibung

Description

This project aims to develop control strategies for stabilizing a tethered suspended drone on a mov- ing, oscillating branch without a fixed attachment point. Part of the eAvitation project for two years, it supports forest ecology and in-canopy data collec- tion in collaboration with Imperial College London, EPFL, Bristol University, and EMPA Zurich. Research focuses on understanding the drone- ring-tether system, its control architecture, and angle estimation sensor for GPS-denied environ- ments. The goal is to enhance sensing and control for stable positioning despite unpredictable motion, using adaptive controllers and improved state esti- mation. Indoor and outdoor tests will be conducted in a motion-tracking-equipped flight arena. While opera- tional, the prototype may require maintenance, sup- ported by a student community. The project aims for publications in peer-reviewed journals and conferences.

 

Work packages

WP1 Understand the drone-ring-tether system, its control architecture, and angle estimation sen- sor.

WP2 Improvesensingandstateestimationtocom- pensate for oscillating and moving perching surfaces.

WP3 Develop adaptive control algorithms to stabi- lize the drone despite disturbances.

WP4 Conduct indoor and outdoor experimental validation.

WP5 Contribute to research publications in top-tier journals and conferences.

Voraussetzungen

Requirements

• Student in a relevant field, e.g., robotics, con- trol, mechanical, or aerospace engineering.

• Knowledge of drone dynamics and modern control system design.

• Experience with reinforcement learning is ap- preciated.

• Hands-on experience with hardware experi- ments and testing is beneficial.

Application

• CV and motivational letter.

• Transcript of records.

• Portfolio of projects.

• A brief description of your experience and re- search interests.

Timeline

Immediate start possible.

Möglicher Beginn

sofort

Kontakt

Luca Romanello
Tel.: +393890541405
luca.romanellotum.de

Ausschreibung