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dc.contributor.advisorTron, Robertoen_US
dc.contributor.authorLiu, Chengen_US
dc.date.accessioned2019-06-25T17:54:36Z
dc.date.available2019-06-25T17:54:36Z
dc.date.issued2019
dc.identifier.urihttps://hdl.handle.net/2144/36045
dc.description.abstractCollisions are typically seen as adverse events for quadrotors, with numerous researchers designing cages for minimizing the effect of impacts on the vehicles. In this thesis, we reverse this paradigm, treating collisions as an additional opportunity for localization. In order to gather collision information, a touch-only sensor with a protective frame is designed to sense the 2-D relative displacement due to inertial force between vehicle and the frame while collision happens. We provide a mathematical model that represents the displacement in terms of the poses of the protective frame and quadrotor is constructed and solved numerically, which helps analyze the distance from obstacles to the vehicle and collision direction. At last, a particle filter based localization observing the collision status is simulated, which verifies the theoretical feasibility utilizing collision information to perform localization in a known environment.en_US
dc.language.isoen_US
dc.subjectRoboticsen_US
dc.titleLocalizing a quadrotor with collisions: novel sensor design and applications to particle filteringen_US
dc.typeThesis/Dissertationen_US
dc.date.updated2019-06-04T01:06:39Z
etd.degree.nameMaster of Scienceen_US
etd.degree.levelmastersen_US
etd.degree.disciplineMechanical Engineeringen_US
etd.degree.grantorBoston Universityen_US


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