IISRD

Insect inspired self-righting for fixed wing drones

In this repository we provide the source code accompanying our article: "Insect inspired self-righting for fixed wing drones". Specifically, we provide the MATLAB Simulink simulation of our self-righting drone which can be modified to test different types of self-righting configurations. Moreover we supply the MATLAB scripts we used for analyzing and visualizing the aerodynamic data we collected with our wind-tunnel configuration. Finally the CAD for the drone is provided which can be used to adapt the proposed self-righting mechanism to any conventional UAV and to build it.

Requirements

For developing and runnning the simulation and the scripts, we used MATLAB R2020a with the Simulink extention in a Windows 10 x64 operating system.

Usage

The repository has three main components.

A folder called CAD, which contains the Inventor part (.ipt) and assembly (.iam) files.
A folder called scripts, which contains the dynamic and aerodynamic analysis and visualization scripts.
A folder called simulation, which contains the MATLAB Simulink simulation files.

Each folder contains its own README.md file with dedicated instructions on how to use them.

Dataset

The dataset of both the dynamic and the aerodynamic experiments can be found in Zenodo.

Citation

If you use this work in an academic context, please cite the following article:

@article{vourtsis_iisr_2021,
    title   = {Insect Inspired Self-Righting for Fixed-Wing Drones},
    author  = {Vourtsis, Charalampos and Ramirez Serrano, Francisco and Casas Rochel, Victor and Stewart, William and Floreano, Dario},
    journal = {IEEE Robotics and Automation Letters},
    year    = {2021},
    pages   = {8},
}

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