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Multi Smart Unmanned Aerial

Vehicles: The Quadcopters

Reynaldo Belfort, Oscar Chacn, Jesus Diaz, Carlos Molina,
Rafael Pol, Daniel Ramos, Ronald Rivera, Luis Rivera
Advisor: Eduardo I. Ortiz-Rivera, Ph.D.

1. Introduction

5. Results
Assembly process of
the Quadcopters
components and initial
motor tests.

The Quadcopter is an Autonomous

Robotic Systems Research Project
part of the Minds2CREATE
Research Team with the support of
the Projects Division for the I.E.E.E.
Control System Society (C.S.S.). The
main idea behind this project is to
provide to the engineering
undergraduate students a platform,
in the form of a UAV, to put into
practice all the knowledge developed
in courses with hands-on work.
This team is composed of over 10
electrical, computer and mechanical
engineering students. The students
work in the fields of software
development , electronic design and
testing, manufacturing and
assembly, and project management.

Initial Quadcopters manouvers and battery tests. .

4. Methodology
The system chosen to interact with
the Unmanned Aerial Vehicles (UAV)
as part of the process was an
Automatic Charging Station being
designed by the team. The station
will use infrared cameras to detect a
Quadcopter in order to align the
vehicle with the Station by tracking
lights that could represent the actual
position of the Quadcopter body.

During the current term, the initial

quadcopter platform has been
upgraded with the addition of a
battery monitoring sensor, which
allows the reception of real time data
of the battery status. In addition, an
ultrasonic sensor is being added that
will serve as a radar altimeter to
measure altitude with respect to
terrain. A new quadcopter frame was
also designed and will be fully
manufactured by the team during the
rest of the current and next term. The
focus of the new design is to make it
a modular UAV easy to manufacture
and of similar characteristics as the
previous model.

6. Timeline

Once the system is aligned, the

platform will wave pressure sensors
that will indicate its arrival.

3. Objectives
Understand the systems behavior
to simulate real environment
Develop the necessary adaptations
to a Quadcopter so that it could
perform tasks in cooperation with
other quadcopters in which it may
be impractical or dangerous to send
human beings. (e.g., Rescue
Program Sponsors:

The UAV will be controlled by the

Station based on its actual position
and it will also exchange telemetry
data such as sensor data to aid the
positioning process. Through this
system, an algorithm will decide
which UAV has the highest charging















Test again

Metrics for Success

2. Problem & Hypothesis

Problem: How can the interaction
between two or more autonomous
aerial vehicles be synchronized so
that they perform a single task as an


Paper submitted to 2014 IEEE

Frontiers in Education Conference: C.
Molina, O. Chacon, R. Belford, E. Ortiz, ;
The use of Unmanned Aerial Vehicles for
an Interdisciplinary Undergraduate
The main objective is to develop an
interdisciplinary project using UAVs as a
platform to integrate mechanical, computer,
and electrical engineering skills.
Multiple outreach: activities on in High
Schools, Universities, and different
conferences across Puerto Rico.



Nonami, Kenzo, Farid Kendoul, Satoshi Suzuki, Wei Wang, and

Daisuke Nakazawa. Autonomous Flying Robots Unmanned Aerial
Vehicles and Micro Aerial Vehicles. Tokyo: Springer Japan KK,
2010. Print
Jiinec, Tom. Stabilization and Control of Unmanned Quadcoter.
Lule University of Technology, 30 May 2011. Print. April 2013.
Ortiz-Rivera, E.I.; Estela, Angelina; Romero, Carlos; Valentn,
Jess A.; The Use of UAVS in USAS Security by an
Engineering Education Approach 2012 IEEE Conference on
Technologies for Homeland Security, Greater Boston, MA.

April 22 to 24, 2014