SplitFlyer：一个模块化四轴飞行器，可拆卸成两个飞行机器人
SplitFlyer: a Modular Quadcoptor that Disassembles into Two Flying Robots
摘要：
我们介绍SplitFlyer-一种新颖的四轴飞行器，能够通过人工协助拆卸成两个独立的双旋翼飞行器。作为一个子单元，双旋翼飞行器是一种严重欠驱动的飞行器，只有两个螺旋桨。尽管如此，每个双旋翼飞行器都能够独立飞行。为了实现这一点，我们提供了一个系统动力学分析放松控制偏航旋转，使双旋翼飞行器在飞行中保持其大的自旋速率。考虑到陀螺运动，动力学描述和级联控制策略的发展。我们建造了一个可变形的原型来演示两种构型的连续飞行。结果验证了所提出的控制策略，并显示了该平台的潜力，为未来的研究在模块化空中集群机器人。
英文摘要：
We introduce SplitFlyer--a novel quadcopter with an ability to disassemble into two self-contained bicopters through human assistance. As a subunit, the bicopter is a severely underactuated aerial vehicle equipped with only two propellers. Still, each bicopter is capable of independent flight. To achieve this, we provide an analysis of the system dynamics by relaxing the control over the yaw rotation, allowing the bicopter to maintain its large spinning rate in flight. Taking into account the gyroscopic motion, the dynamics are described and a cascaded control strategy is developed. We constructed a transformable prototype to demonstrate consecutive flights in both configurations. The results verify the proposed control strategy and show the potential of the platform for future research in modular aerial swarm robotics.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
