Witt, JonasJonasWittAnnighöfer, BjörnBjörnAnnighöferFalkenberg, OleOleFalkenbergWeltin, UweUweWeltin2023-02-092023-02-092011Lecture Notes in Computer Science 7101 (PART 1): 312-323 (2011)http://hdl.handle.net/11420/14774This work presents the results of an effort to create a high performance quad-rotor MAV named iQCopter for research in the field of swarm robotics and vision-based autonomous operation. During the design, navigational and computational capabilities have been of major priority. A distinctive feature of the iQCopter is its layered system architecture using a comparably powerful, hard real-time capable x86-computer even in the innermost control loop for maximum transparency and ease of use while a simple fixed-point microcontroller provides a low-level sensor interface and a fallback solution for safety reasons. Finally, a successful system identification and subsequent design of an aggressive H ∞ controller are presented as benchmark cases to demonstrate the performance of the design. © 2011 Springer-Verlag.en1611-33492011Part 1312323architecturemicro unmanned aerial vehicle (MAV)quad-rotorrobust controlsystem designsystem identificationHausbau, BauhandwerkArchitekturConference Paper10.1007/978-3-642-25486-4_32Other