http://kumar.grasp.upenn.edu/ Vijay Kumar

Flapping:

http://en.wikipedia.org/wiki/AeroVironment_Nano_Hummingbird

http://www.avinc.com/nano/

http://en.wikipedia.org/wiki/Flatness_%28systems_theory%29

Attitude control wen kreutz

Ask for paper to Kumar: 3D Estimation and Control for Autonomous Flight with Constrained Computation shen michael kumar 2011

Snap trajectories

My idea: Detect or sense objects or wall by flow or air effects

autonomous_indoor_3d_exploration_with_a_micor_aerial_vehicle_shen_michael_kumar.pdf

https://alliance.seas.upenn.edu/~kumar/wiki/index.php?n=Main.Papers

Mechanical modelling of UAV

Slides: modelling_of_unmanned_aerial_vehicles_-_summerschool-marconi.pdf

Ask for reference on backstepping and non-linear control

Robust Control for helicopter: robust_nonlinear_motion_control_of_a_helicopter_isidori_marconi.pdf

book Robust Autonomous Guidance: an Internal Model Approach - Isidori marconi

Study passivity.

- To estimate the parameters of the system in a quadrocopter using a control during excitation, use more than one gain (like a PD controller).