A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots

Obadah Wali; Mohamad T. Shahab; Eric Feron

doi:10.1109/icra48891.2023.10161301

A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots

Obadah Wali, Mohamad T. Shahab, Eric Feron

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

This paper presents a new design of aerial vehicles with tetrahedral geometry. We call this design the TetraQuad. The TetraQuad is a fractal modular aerial robot. A characteristic of fractals is that they have a geometric shape that can be assembled to generate the same geometry on a larger scale. Therefore multiple TetraQuad modules can be assembled to produce a larger scaled tetrahedral shaped aerial vehicle. The advantage is to have modular aerial robots that assemble in the vertical direction; this increases the rigidity of the structure, as well as reduces the wake interaction of the elevated propellers in the assembly. This work presents a design and analysis of the TetraQuad module as well as assemblies of multiple modules. A modular controller strategy is discussed. The functionality of the controller is illustrated using simulations. We validate our design with experimental flight tests.

Original language	English (US)
Title of host publication	2023 IEEE International Conference on Robotics and Automation (ICRA)
Publisher	IEEE
DOIs	https://doi.org/10.1109/icra48891.2023.10161301
State	Published - Jul 4 2023

Bibliographical note

KAUST Repository Item: Exported on 2023-07-07
Acknowledgements: Support for the work was provided by KAUST faculty baseline fund. The authors would like to acknowledge the help of Bilal Maassarani and Kuat Telegenov.

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10.1109/icra48891.2023.10161301

Cite this

@inproceedings{548786713e624e549644d4d3ba112cf6,

title = "A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots",

abstract = "This paper presents a new design of aerial vehicles with tetrahedral geometry. We call this design the TetraQuad. The TetraQuad is a fractal modular aerial robot. A characteristic of fractals is that they have a geometric shape that can be assembled to generate the same geometry on a larger scale. Therefore multiple TetraQuad modules can be assembled to produce a larger scaled tetrahedral shaped aerial vehicle. The advantage is to have modular aerial robots that assemble in the vertical direction; this increases the rigidity of the structure, as well as reduces the wake interaction of the elevated propellers in the assembly. This work presents a design and analysis of the TetraQuad module as well as assemblies of multiple modules. A modular controller strategy is discussed. The functionality of the controller is illustrated using simulations. We validate our design with experimental flight tests.",

author = "Obadah Wali and Shahab, {Mohamad T.} and Eric Feron",

note = "KAUST Repository Item: Exported on 2023-07-07 Acknowledgements: Support for the work was provided by KAUST faculty baseline fund. The authors would like to acknowledge the help of Bilal Maassarani and Kuat Telegenov.",

year = "2023",

month = jul,

day = "4",

doi = "10.1109/icra48891.2023.10161301",

language = "English (US)",

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publisher = "IEEE",

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T1 - A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots

AU - Wali, Obadah

AU - Shahab, Mohamad T.

AU - Feron, Eric

N1 - KAUST Repository Item: Exported on 2023-07-07 Acknowledgements: Support for the work was provided by KAUST faculty baseline fund. The authors would like to acknowledge the help of Bilal Maassarani and Kuat Telegenov.

PY - 2023/7/4

Y1 - 2023/7/4

N2 - This paper presents a new design of aerial vehicles with tetrahedral geometry. We call this design the TetraQuad. The TetraQuad is a fractal modular aerial robot. A characteristic of fractals is that they have a geometric shape that can be assembled to generate the same geometry on a larger scale. Therefore multiple TetraQuad modules can be assembled to produce a larger scaled tetrahedral shaped aerial vehicle. The advantage is to have modular aerial robots that assemble in the vertical direction; this increases the rigidity of the structure, as well as reduces the wake interaction of the elevated propellers in the assembly. This work presents a design and analysis of the TetraQuad module as well as assemblies of multiple modules. A modular controller strategy is discussed. The functionality of the controller is illustrated using simulations. We validate our design with experimental flight tests.

AB - This paper presents a new design of aerial vehicles with tetrahedral geometry. We call this design the TetraQuad. The TetraQuad is a fractal modular aerial robot. A characteristic of fractals is that they have a geometric shape that can be assembled to generate the same geometry on a larger scale. Therefore multiple TetraQuad modules can be assembled to produce a larger scaled tetrahedral shaped aerial vehicle. The advantage is to have modular aerial robots that assemble in the vertical direction; this increases the rigidity of the structure, as well as reduces the wake interaction of the elevated propellers in the assembly. This work presents a design and analysis of the TetraQuad module as well as assemblies of multiple modules. A modular controller strategy is discussed. The functionality of the controller is illustrated using simulations. We validate our design with experimental flight tests.

UR - http://hdl.handle.net/10754/692798

UR - https://ieeexplore.ieee.org/document/10161301/

U2 - 10.1109/icra48891.2023.10161301

DO - 10.1109/icra48891.2023.10161301

M3 - Conference contribution

BT - 2023 IEEE International Conference on Robotics and Automation (ICRA)

PB - IEEE

ER -

A Non-planar Assembly of Modular Tetrahedral-shaped Aerial Robots

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