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The Centre of Research Excellence for Advanced Cooperative Systems (ACROSS) is an interdepartmental research centre at the University of Zagreb Faculty of Electrical Engineering and Computing. The centre performs research in cooperative systems related to robotics, networked embedded systems and renewable energy systems. Its establishment and operation is funded by the European FP-7 Capacities "Research Potential" program [285939, FP7-REGPOT-2011-1].

Published: 2012-11-01 at 11:52
Edited: 2012-11-13 at 16:56
Colloquia "Load Transportation...

The Centre of Research Excellence for Advanced Cooperative Systems (ACROSS) would like to invite you to the second colloquia

"Load Transportation Using Quadrotors"

held by Ivana Palunko, Ph.D.


Colloquia details

Load Transportation Using Quadrotors 

Speaker Ivana Palunko, Ph.D.
Date 09.11.2012. 14:00 - 15:00
Location Faculty of Electrical Engineering and Computing, TCR


More about the speaker and colloquia can be found in the detailed news content.


In this talk, we investigate problems that occur during load transportation using small scale quadrotors. First, the problem of quadrotor stabilization and trajectory tracking with changes of the center of gravity of the system is addressed. Then we address the problem of a swing-free transport of suspended load using quadrotors. Flying with a load can be a very challenging and sometimes hazardous task as the load significantly alters the flight characteristics of the quadrotor.  Besides the swing-free maneuvers with suspended load, load trajectory tracking is another problem we define and present.  At the end, we propose an algorithm for navigation in cluttered environments considering a quadrotor with suspended load. 
Ivana Palunko is a postdoctoral researcher in the Research Centre for Advanced Cooperative Systems (ACROSS) at the Department of Control and Computer Engineering ,University of Zagreb, Faculty of Electrical Engineering and Computing (FER). She graduated from FER with a Masters degree (Dipl.-Ing.) in Electrical Engineering in 2007., majoring in Control Systems. In August 2008, she enrolled in the Ph.D program, the Control Systems major, at the Department of Electrical and Computer Engineering, University of New Mexico (UNM), Albuquerque, NM. Her research is mainly oriented in the field of modeling and control of unmanned aerial vehicles. The tools utilized in her research are: modeling of nonlinear systems, nonlinear control, Lyapunov stability, adaptive control, bifurcation theory, optimal control, reinforcement learning, optimization theory. These tools are applied to problems in the area of load transportation using aerial robots. She defended her Ph.D dissertation in August 2012
Mirko Sužnjević
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ACROSS project has received research funding from the Seventh Framework Programme of the European Union (Grant Agreement No. 285939 FP7-REGPOT-2011-1).


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