Inertial sensor arrays present the possibility of improved and extended sensing capabilities
as compared to customary inertial sensor setups. Inertial sensor arrays have been studied …

Abstract The Flying Machine Arena is a platform for experiments and demonstrations with
fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust …

This paper introduces the Cubli, a 15× 15× 15 cm cube that can jump up and balance on a
corner. Momentum wheels mounted on three faces of the cube (Fig. 1) rotate at high angular …

This paper presents control and learning algorithms for a reaction wheel-based 3-D inverted
pendulum. The inverted pendulum system has two main features: the ability to balance on its …

Abstract Three-dimensional (3D) visual tracking of a multicopter (where the camera is fixed
while the multicopter is moving) means continuously recovering the six-degree-of-freedom …

The Cubli is a 15× 15× 15 cm cube with reaction wheels mounted on three of its faces. By
applying controlled torques to the reaction wheels the Cubli is able to balance on its corner …

This article presents a novel 3D inverted pendulum that can balance on one of its corners
using only a single reaction wheel. This is achieved by a careful design of the mass moment …

A distributed state estimation algorithm that makes use of model-based predictions to reduce
communication requirements in a networked control architecture is tested on an unstable …

The micro-electro-mechanical technology facilitates the development of low-cost orientation
estimation solutions using inertial and magnetic sensors. However, the magnetic …

Combining off-the-shelf components with 3D-printing, the Wheelbot is a symmetric reaction
wheel unicycle that can jump onto its wheels from any initial position. With non-holonomic …