### Vector field following for quadrotors using differential flatness

@inproceedings{zhou_vector_2014,
title = {Vector field following for quadrotors using differential flatness},
isbn = {978-1-4799-3685-4},
url = {http://ieeexplore.ieee.org/document/6907828/},
abstract = {This paper proposes a differential ﬂatness-based method for maneuvering a quadrotor so that its position follows a speciﬁed velocity vector ﬁeld. Existing planning and control algorithms often give a 2D or 3D velocity vector ﬁeld to be followed by a robot. However, quadrotors have complex nonlinear dynamics that make vector ﬁeld following difﬁcult, especially in aggressive maneuvering regimes. This paper exploits the differential ﬂatness property of a quadrotor’s dynamics to control its position along a given vector ﬁeld. Differential ﬂatness allows for the analytical derivation of control inputs in order to control the 12D dynamical state of the quadrotor such that the 2D or 3D position of the quadrotor follows the ﬂow speciﬁed by a given vector ﬁeld. The method is derived mathematically, and demonstrated in numerical simulations and in experiments with a quadrotor robot for three different vector ﬁelds.},
language = {en},
urldate = {2020-09-15},
booktitle = {2014 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
publisher = {IEEE},
author = {Zhou, Dingjiang and Schwager, Mac},
month = may,
year = {2014},
keywords = {optimal\_control},
pages = {6567--6572},
month_numeric = {5}
}