Modelling, identification and geometric control of autonomous quadcopters for agile maneuvering

The continuous development of quadcopters in recent years has led to their use in a wide range of applications, such as search and rescue missions, camera surveillance, and agricultural monitoring. As their applications continue to expand, quadcopters are expected to have increasingly complex capabilities, such as agile maneuvering in narrow spaces between obstacles, cooperating with other drones, working with humans and performing acrobatic maneuvers. The modular design of quadcopters also facilitates their wide range of applications, as the choice of components (motors, propellers, battery, sensors) can be adapted to various tasks. Agile maneuvering requires powerful motors and low weight, which typically reduces flight time. For agricultural monitoring, on the other hand, it is important that the drone can fly as long as possible on a single battery, but there is typically less need to perform fast, precise maneuvers.