Code and data for the article "Accommodating unobservability to control flight attitude with optic flow"

This dataset contains the MATLAB code and experimental data for reproducing the observability analysis, simulation experiments, and plotting of robotic results for the article: <br> <strong>“Accommodating unobservability to control flight attitude with optic flow”</strong>, by G.C.H.E. de Croon, J.J.G. Dupeyroux, C. De Wagter, A. Chatterjee, D.A. Olejnik, F. Ruffier. <br> The dataset contains the logged flight data from quadrotor experiments (with a Parrot Bebop 2) and flapping wing robot experiments (with a Flapper Drone), as performed for the paper mentioned above. <br> Moreover, it contains the post-processed data (positions, pitch attitudes, as extracted with computer vision scripts from the images captured in the experimental setup) from the honeybee experiments performed in the article: Portelli, G., Ruffier, F., Roubieu, F. L., &amp; Franceschini, N. (2011). Honeybees' speed depends on dorsal as well as lateral, ventral and frontal optic flows. PloS one, 6(5), e19486. This data has been re-analyzed in the light of the proposed new theory on estimating attitude with the help of optic flow. <br> The dataset contains a README document that further explains how to reproduce the results with the MATLAB code. <br>

本数据集包含用于复现论文《借助光流实现飞行姿态控制的不可观测性适配》（Accommodating unobservability to control flight attitude with optic flow）中机器人实验结果的可观测性分析、仿真实验及绘图所需的MATLAB代码与实验数据，该论文作者为G.C.H.E. de Croon、J.J.G. Dupeyroux、C. De Wagter、A. Chatterjee、D.A. Olejnik与F. Ruffier。
本数据集还包含上述论文所开展的四旋翼飞行器实验（搭载Parrot Bebop 2无人机）与扑翼机器人实验（搭载Flapper Drone）中记录的飞行数据。
此外，本数据集还包含上述论文中提及的蜜蜂实验的后处理数据（包括通过计算机视觉脚本从实验装置拍摄的图像中提取的位置、俯仰姿态数据），该蜜蜂实验来自Portelli G、Ruffier F、Roubieu F L与Franceschini N于2011年发表在《PLOS ONE》第6卷第5期e19486号文章《蜜蜂的飞行速度依赖于背侧、侧向、腹侧与额侧光流》（Honeybees' speed depends on dorsal as well as lateral, ventral and frontal optic flows）。研究人员借助本文提出的基于光流的姿态估计新理论，对该数据集进行了重新分析。
本数据集附带一份README文档，详细说明如何通过MATLAB代码复现相关实验结果。