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Meeting	ACGS Committee Meeting 108 - Gettysburg - October 2011
Agenda Location	7 SUBCOMMITTEE A – AERONAUTIC AND SURFACE VEHICLES 7.2 Control Methods for Quadrotor Helicopters
Title	Control Methods for Quadrotor Helicopters Best Presentation Award
Presenter	Daniel Mellinger
Affiliation	University of Pennsylvania
Available Downloads*	presentation video
	Downloads are available to members who are logged in and either Active* or attended this meeting.
Abstract	Abstract: Quadrotor helicopters are agile crafts with impressive dynamic capabilities. In this presentation I will describe the multiple quadrotor testbed used at the GRASP Lab at the University of Pennsylvania and several projects that have been conducted in this space. I will describe a couple different trajectory generation methods which enable flight through narrow windows, robust perching on vertical surfaces, and dynamically optimal flight through thrown hula hoops. I will also describe a control method for multiple quadrotors rigidly attached to the same payload which enables cooperative transport. Finally, I will present some work involving teams of quadrotors autonomously building 3-D structures from simple modular pieces.