Feasiblity of motion primitives for choreographed quadrocopter flight

Abstract

This paper describes a method for checking the feasibility of quadrocopter motions. The approach, meant as a validation tool for preprogrammed quadrocopter performances, is based on first principles models and ensures that a desired trajectory respects both vehicle dynamics and motor thrust limits. We apply this method towards the eventual goal of using parameterized motion primitives for expressive quadrocopter choreographies. First, we show how a large class of motion primitives can be formulated as truncated Fourier series. We then show how the feasibility check can be applied to such motions by deriving explicit parameter constraints for two particular parameterized primitives. The predicted feasibility constraints are compared against experimental results from quadrocopters in the ETH Flying Machine Arena.