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We present a trajectory tracking controller for a quadrotor unmanned aerialvehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to afamily of geometric tracking controllers on $SO(3)\times R^3$. The theoreticalresults are complemented by simulation examples, and the controller issubsequently implemented in practice and integrated with a simultaneouslocalization and mapping (SLAM) system through an extended Kalman filter (EKF).This facilitates the operation of the UAV without external motion capturesystems, and we demonstrate that the proposed control system can be used forinventorying tasks in a supermarket environment without external positioningsystems.

Quadrotor Control on $SU(2)\times R^3$ with SLAM Integration