Publications by Samir Bouabdallah

In-Flight Collision Avoidance Controller Based Only on OS4 Embedded Sensors

Roland Siegwart, Samir Bouabdallah, Vincent de Perrot

The major goal of this research was the development and implementation of a control system able to avoid collisions during the flight for a mini-quadrotor helicopter, based only on its embedded sensors without changing the environment. However, it is impor ...

Abcm Brazilian Soc Mechanical Sciences & Engineering2012

Design and control of quadrotors with application to autonomous flying

Samir Bouabdallah

This thesis is about modelling, design and control of Miniature Flying Robots (MFR) with a focus on Vertical Take-Off and Landing (VTOL) systems and specifically, micro quadrotors. It introduces a mathematical model for simulation and control of such syste ...

EPFL2007

Design and Control of an Indoor Coaxial Helicopter

Roland Siegwart, Gilles Caprari, Samir Bouabdallah

This paper presents the design and preliminary control of an indoor coaxial helicopter �CoaX� based on a concept of hybrid active and passive control. The robot is capable of passive roll and pitch stabilization against small disturbances while a ...

2006

Towards Autonomous Indoor Micro VTOL

Roland Siegwart, Samir Bouabdallah

Kluwer Academic Publishers, Springer2005

Towards Intelligent Miniature Flying Robots

Roland Siegwart, Samir Bouabdallah

This paper presents a practical method for small-scale VTOL design. It helps for elements selection and dimensioning.We apply the latter to design a fully autonomous quadrotor with numerous innovations in design methodology, steering and propulsion achievi ...

2005

Backstepping and Sliding-mode Techniques Applied to an Indoor Micro Quadrotor

Roland Siegwart, Samir Bouabdallah

The latest technological progress in sensors, actuators and energy storage devices enables the developments of miniature VTOL systems. In this paper we present the results of two nonlinear control techniques applied to an autonomous micro helicopter called ...

2005