This course aims to introduce students to the fundamental concepts involved in the design and operation of aerial robots, visiting the topics of rotorcraft modelling, navigation guidance and control, as well as motion planning. In particular we will derive dynamic models of robotic quadrotors, discuss the available sensors to be installed onboard and sensor fusion techniques rooted on the concepts of Kalman Filtering for linear and nonlinear systems, present methods for aerial robot control with stability analysis, and basic algorithms for efficient robot motion in unstructured environments. Finally, some applications are presented and future uses of aerial robots are discussed.

CILO-1: Apply first principles, particularly in the areas of physics and dynamical systems, to design and develop efficient and realistic dynamic models for Aerial Robots. CILO-2: Design and construct navigation filters and controllers for underactuated aerial robots that fulfill maneuverability requirements within realistic aerial robotic vehicles mission requirements. CILO-3: Recognize, articulate, and address navigation filters and control systems design problems encountered in motion of single and multiple Aerial Robots through the application of suitable design techniques. CILO-4: Communicate effectively using technical terminology and visual aids to describe and explain the design of navigation filters and controllers for single and multiple Aerial Robots. CILO-5: Analyze and evaluate emerging issues and challenges in Sensing and Aerial Robotics. CILO-6: Demonstrate competence in the application of advanced navigation filters and controllers design techniques to analyze and design intelligent controllers for Aerial Robots. CILO-7: Design and simulate Aerial Robots dynamic behavior including onboard navigation sensors using MatLab/Simulink.