Estimation, Navigation and Control of Multi-Rotor Drones in an Urban Wind Field

The paper presents an on-board estimation, navigation and control architecture for multi-rotor drones ying in urban environment. It consists of adaptive algorithms to estimate vehicle's aerodynamic drag coe cients with respect to still air and the urban wind components along the ight trajectory, with guaranteed fast and reliable convergence to the true values; navigation algorithms to generate feasible trajectories between given way-points that take into account the estimated wind; and of control algorithms to track the generated trajectories as long as the vehicle retains su cient number of functioning rotors capable of compensating for the estimated wind. All components of this on-board system are computationally e ective and are intended for a real time implementation. The algorithms were tested in simulations.