<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-01099975</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-19T07:20:42+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">X4-MaG: a low-cost open-source micro-quadrotor and its Linux-based controller</title>
            <author role="aut">
              <persName>
                <forename type="first">Augustin</forename>
                <surname>Manecy</surname>
              </persName>
              <email type="md5">b70625988d4373373fdabd71def813b7</email>
              <email type="domain">onera.fr</email>
              <idno type="idhal" notation="string">augustin-manecy</idno>
              <idno type="idhal" notation="numeric">664</idno>
              <idno type="halauthorid" notation="string">15635-664</idno>
              <idno type="IDREF">https://www.idref.fr/188983929</idno>
              <idno type="ORCID">https://orcid.org/0000-0001-9746-735X</idno>
              <affiliation ref="#struct-388240"/>
              <affiliation ref="#struct-391141"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Nicolas</forename>
                <surname>Marchand</surname>
              </persName>
              <email type="md5">9fa2bc5a243bf7c1ca9b598fd61bce81</email>
              <email type="domain">gipsa-lab.grenoble-inp.fr</email>
              <idno type="idhal" notation="string">nicolas-marchand</idno>
              <idno type="idhal" notation="numeric">1774</idno>
              <idno type="halauthorid" notation="string">17979-1774</idno>
              <idno type="IDREF">https://www.idref.fr/112853005</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-5825-9758</idno>
              <idno type="VIAF">https://viaf.org/viaf/73376630</idno>
              <idno type="ISNI">http://isni.org/isni/0000000039446094</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=dEkTCzsAAAAJ&amp;hl=en</idno>
              <orgName ref="#struct-441569"/>
              <affiliation ref="#struct-388240"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Franck</forename>
                <surname>Ruffier</surname>
              </persName>
              <email type="md5">28d48aabe1ea6e4e427ec76b5727afc3</email>
              <email type="domain">univ-amu.fr</email>
              <idno type="idhal" notation="string">franck-ruffier</idno>
              <idno type="idhal" notation="numeric">11463</idno>
              <idno type="halauthorid" notation="string">23450-11463</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7854-1275</idno>
              <idno type="IDREF">https://www.idref.fr/084621400</idno>
              <affiliation ref="#struct-391141"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Stéphane</forename>
                <surname>Viollet</surname>
              </persName>
              <idno type="halauthorid">15441-0</idno>
              <affiliation ref="#struct-391141"/>
              <affiliation ref="#struct-1788"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Nicolas</forename>
                <surname>Marchand</surname>
              </persName>
              <email type="md5">3f768df6547e419ff4f02a486d7d4887</email>
              <email type="domain">gipsa-lab.fr</email>
            </editor>
            <funder ref="#projanr-49611"/>
            <funder ref="#projanr-30066"/>
            <funder ref="#projanr-35707"/>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2017-11-28 17:06:25</date>
              <date type="whenModified">2025-09-27 19:43:47</date>
              <date type="whenReleased">2017-11-29 10:01:37</date>
              <date type="whenProduced">2015</date>
              <date type="whenEndEmbargoed">2017-11-27</date>
              <ref type="file" target="https://hal.science/hal-01099975v1/document">
                <date notBefore="2017-11-27"/>
              </ref>
              <ref type="file" subtype="greenPublisher" n="1" target="https://hal.science/hal-01099975v1/file/IJMAV-Manecy.pdf" id="file-1649560-1693038">
                <date notBefore="2017-11-27"/>
              </ref>
              <ref type="externalLink" target="https://doi.org/10.1260/1756-8293.7.2.89"/>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="110914">
                <persName>
                  <forename>Nicolas</forename>
                  <surname>Marchand</surname>
                </persName>
                <email type="md5">3f768df6547e419ff4f02a486d7d4887</email>
                <email type="domain">gipsa-lab.fr</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-01099975</idno>
            <idno type="halUri">https://hal.science/hal-01099975</idno>
            <idno type="halBibtex">manecy:hal-01099975</idno>
            <idno type="halRefHtml">&lt;i&gt;International Journal of Micro Air Vehicles&lt;/i&gt;, 2015, 7 (2), pp.89-109. &lt;a target="_blank" href="https://dx.doi.org/10.1260/1756-8293.7.2.89"&gt;&amp;#x27E8;10.1260/1756-8293.7.2.89&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">International Journal of Micro Air Vehicles, 2015, 7 (2), pp.89-109. &amp;#x27E8;10.1260/1756-8293.7.2.89&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-1649560-1693038"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="UGA">HAL Grenoble Alpes</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-GRENOBLE1">Université Joseph Fourier - Grenoble I</idno>
            <idno type="stamp" n="UNIV-AMU">Aix Marseille Université</idno>
            <idno type="stamp" n="UNIV-PMF_GRENOBLE">Université Pierre-Mendès-France - Grenoble II</idno>
            <idno type="stamp" n="UNIV-GRENOBLE3">Université Stendhal - Grenoble III</idno>
            <idno type="stamp" n="INPG">Institut polytechnique de Grenoble</idno>
            <idno type="stamp" n="GIPSA">Grenoble Images Parole Signal Automatique</idno>
            <idno type="stamp" n="GIPSA-DA" corresp="GIPSA">Département Automatique</idno>
            <idno type="stamp" n="GIPSA-SYSCO" corresp="GIPSA-DA">SYSCO</idno>
            <idno type="stamp" n="UGA-TEST-BIS">UGA-TEST-BIS</idno>
            <idno type="stamp" n="UGA-TEST-TER">UGA-TEST-TER</idno>
            <idno type="stamp" n="UGA-TEST-QUATER">UGA-TEST-QUATER</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="ISM-EJM" corresp="COLL-STAPS">Institut des sciences du mouvement Etienne-Jules Marey </idno>
            <idno type="stamp" n="ANR">ANR</idno>
            <idno type="stamp" n="STAPS">STAPS</idno>
            <idno type="stamp" n="COLL-STAPS">COLL-STAPS</idno>
            <idno type="stamp" n="TEST-UGA">TEST-UGA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">X4-MaG: a low-cost open-source micro-quadrotor and its Linux-based controller</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Augustin</forename>
                    <surname>Manecy</surname>
                  </persName>
                  <email type="md5">b70625988d4373373fdabd71def813b7</email>
                  <email type="domain">onera.fr</email>
                  <idno type="idhal" notation="string">augustin-manecy</idno>
                  <idno type="idhal" notation="numeric">664</idno>
                  <idno type="halauthorid" notation="string">15635-664</idno>
                  <idno type="IDREF">https://www.idref.fr/188983929</idno>
                  <idno type="ORCID">https://orcid.org/0000-0001-9746-735X</idno>
                  <affiliation ref="#struct-388240"/>
                  <affiliation ref="#struct-391141"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Nicolas</forename>
                    <surname>Marchand</surname>
                  </persName>
                  <email type="md5">9fa2bc5a243bf7c1ca9b598fd61bce81</email>
                  <email type="domain">gipsa-lab.grenoble-inp.fr</email>
                  <idno type="idhal" notation="string">nicolas-marchand</idno>
                  <idno type="idhal" notation="numeric">1774</idno>
                  <idno type="halauthorid" notation="string">17979-1774</idno>
                  <idno type="IDREF">https://www.idref.fr/112853005</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-5825-9758</idno>
                  <idno type="VIAF">https://viaf.org/viaf/73376630</idno>
                  <idno type="ISNI">http://isni.org/isni/0000000039446094</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=dEkTCzsAAAAJ&amp;hl=en</idno>
                  <orgName ref="#struct-441569"/>
                  <affiliation ref="#struct-388240"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Franck</forename>
                    <surname>Ruffier</surname>
                  </persName>
                  <email type="md5">28d48aabe1ea6e4e427ec76b5727afc3</email>
                  <email type="domain">univ-amu.fr</email>
                  <idno type="idhal" notation="string">franck-ruffier</idno>
                  <idno type="idhal" notation="numeric">11463</idno>
                  <idno type="halauthorid" notation="string">23450-11463</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7854-1275</idno>
                  <idno type="IDREF">https://www.idref.fr/084621400</idno>
                  <affiliation ref="#struct-391141"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Stéphane</forename>
                    <surname>Viollet</surname>
                  </persName>
                  <idno type="halauthorid">15441-0</idno>
                  <affiliation ref="#struct-391141"/>
                  <affiliation ref="#struct-1788"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">129426</idno>
                <idno type="issn">1756-8293</idno>
                <idno type="eissn">1756-8307</idno>
                <title level="j">International Journal of Micro Air Vehicles</title>
                <imprint>
                  <publisher>SAGE</publisher>
                  <biblScope unit="volume">7</biblScope>
                  <biblScope unit="issue">2</biblScope>
                  <biblScope unit="pp">89-109</biblScope>
                  <date type="datePub">2015</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1260/1756-8293.7.2.89</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halDomain" n="info.info-rb">Computer Science [cs]/Robotics [cs.RO]</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>The brand new open-source quadrotor platform called X4-Mag presented here was developed for academic and research applications. X4-MaG is a small, low-cost open quadrotor weighing only 307-grammes. This quadrotor offers two levels of controllers providing a manual mode and an automatic mode thanks to powerful Linux-based computational resources embedded onboard. The experiments presented here show the reliability of the open hardware and software embedded onboard the X4-MaG quadrotor, which is very easy to use. To estimate the robot's attitude, we developed a quaternion-based complementary filter requiring very few computational resources, which have been implemented on an 8-bit Arduino board. We have also established that the stabilization feedback system based on quaternions tracks the attitude setpoints with accuracy up to twice greater than a classical cascaded PI controller. The controllers and estimators were designed in the Matlab/Simulink environment and directly implemented onboard the tiny Linux-based autopilot board using a custom made toolbox (RT-MaG toolbox).The autopilot was tested in the brand-new  Marseilles' Flying Arena with various 3-D flight trajectories and found to be highly reliable and accurate with errors of only 0.7cm in hover and less than 3.2cm at 1.2$m.s{-1}$). The X4-MaG quadrotor was able to reach speeds greater than 2 $m.s^{-1}$ and reject attitude disturbances as large as 20° within 0.8s.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="researchteam" xml:id="struct-388240" status="OLD">
          <orgName>GIPSA - Systèmes non linéaires et complexité</orgName>
          <orgName type="acronym">GIPSA-SYSCO</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>GIPSA-lab, 11 rue des Mathématiques, Grenoble Campus BP46, F-38402 SAINT MARTIN D'HERES CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.gipsa-lab.grenoble-inp.fr/sysco/accueil-sysco.php</ref>
          </desc>
          <listRelation>
            <relation active="#struct-408339" type="direct"/>
            <relation active="#struct-24470" type="indirect"/>
            <relation active="#struct-3886" type="indirect"/>
            <relation active="#struct-5485" type="indirect"/>
            <relation active="#struct-51016" type="indirect"/>
            <relation active="#struct-89889" type="indirect"/>
            <relation name="UMR5216" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="researchteam" xml:id="struct-391141" status="VALID">
          <orgName>Biorobotique</orgName>
          <orgName type="acronym">BIOROB</orgName>
          <desc>
            <address>
              <addrLine>ISMFaculté des sciences du sport163 Avenue de LuminyBP91013288 Marseille cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://ism.univ-amu.fr/fr/biorob</ref>
          </desc>
          <listRelation>
            <relation active="#struct-1788" type="direct"/>
            <relation active="#struct-198056" type="indirect"/>
            <relation name="UMR7287 / UMR6233" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-1788" status="VALID">
          <idno type="IdRef">149945558</idno>
          <idno type="RNSR">201220320P</idno>
          <idno type="ROR">03tncyc93</idno>
          <orgName>Institut des Sciences du Mouvement Etienne Jules Marey</orgName>
          <orgName type="acronym">ISM</orgName>
          <date type="start">2008-01-01</date>
          <desc>
            <address>
              <addrLine>Faculté des Sciences du Sport - 163 Avenue de Luminy - BP CP910 - 13288 Marseille cedex 09</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ism.univmed.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-198056" type="direct"/>
            <relation name="UMR7287 / UMR6233" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="department" xml:id="struct-408339" status="OLD">
          <orgName>Département Automatique</orgName>
          <orgName type="acronym">GIPSA-DA</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>GIPSA-lab11 rue des Mathématiques, Grenoble Campus BP46, 38402 SAINT MARTIN D'HERES</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.gipsa-lab.fr/recherche/departement-automatique.php</ref>
          </desc>
          <listRelation>
            <relation active="#struct-24470" type="direct"/>
            <relation active="#struct-3886" type="indirect"/>
            <relation active="#struct-5485" type="indirect"/>
            <relation active="#struct-51016" type="indirect"/>
            <relation active="#struct-89889" type="indirect"/>
            <relation name="UMR5216" active="#struct-441569" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-24470" status="OLD">
          <idno type="IdRef">137251122</idno>
          <idno type="ISNI">0000000118823396 </idno>
          <idno type="RNSR">200711885T</idno>
          <idno type="ROR">https://ror.org/02wrme198</idno>
          <orgName>Grenoble Images Parole Signal Automatique</orgName>
          <orgName type="acronym">GIPSA-lab</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>GIPSA-lab 11 rue des Mathématiques, Grenoble Campus BP46F-38402 SAINT MARTIN D'HERES CEDEX</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.gipsa-lab.inpg.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-3886" type="direct"/>
            <relation active="#struct-5485" type="direct"/>
            <relation active="#struct-51016" type="direct"/>
            <relation active="#struct-89889" type="direct"/>
            <relation name="UMR5216" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-3886" status="OLD">
          <idno type="IdRef">02640432X</idno>
          <idno type="ROR">https://ror.org/02f7wz369</idno>
          <orgName>Université Pierre Mendès France - Grenoble 2</orgName>
          <orgName type="acronym">UPMF</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 47 - 38040 Grenoble Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.upmf-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-5485" status="OLD">
          <idno type="IdRef">026404125</idno>
          <orgName>Université Stendhal - Grenoble 3</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 25 38040 Grenoble Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.u-grenoble3.fr/stendhal/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-51016" status="OLD">
          <idno type="IdRef">026404796</idno>
          <idno type="ROR">https://ror.org/02aj0kh94</idno>
          <orgName>Université Joseph Fourier - Grenoble 1</orgName>
          <orgName type="acronym">UJF</orgName>
          <date type="end">2015-12-31</date>
          <desc>
            <address>
              <addrLine>BP 53 - 38041 Grenoble Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.ujf-grenoble.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-89889" status="OLD">
          <idno type="IdRef">026388804</idno>
          <idno type="ROR">https://ror.org/05sbt2524</idno>
          <orgName>Institut polytechnique de Grenoble - Grenoble Institute of Technology</orgName>
          <orgName type="acronym">Grenoble INP</orgName>
          <date type="start">2007-01-01</date>
          <date type="end">2019-12-31</date>
          <desc>
            <address>
              <addrLine>46 avenue Félix Viallet 38031 Grenoble Cedex 1</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.grenoble-inp.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-198056" status="VALID">
          <idno type="IdRef">15863621X</idno>
          <idno type="ISNI">0000 0001 2176 4817</idno>
          <idno type="ROR">https://ror.org/035xkbk20</idno>
          <orgName>Aix Marseille Université</orgName>
          <orgName type="acronym">AMU</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>Aix-Marseille UniversitéJardins du Pharo58 Boulevard Charles Livon13284 Marseille cedex 7</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-amu.fr/</ref>
          </desc>
        </org>
      </listOrg>
      <listOrg type="projects">
        <org type="anrProject" xml:id="projanr-49611" status="VALID">
          <idno type="anr">ANR-10-EQPX-0044</idno>
          <orgName>ROBOTEX</orgName>
          <desc>Réseau national de plateformes robotiques d'excellence</desc>
          <date type="start">2010</date>
        </org>
        <org type="anrProject" xml:id="projanr-30066" status="VALID">
          <idno type="anr">ANR-08-CORD-0007</idno>
          <idno type="program">CONTENUS ET INTERACTIONS</idno>
          <orgName>EVA</orgName>
          <desc>Entomoptère Volant Autonome</desc>
          <date type="start">2008</date>
        </org>
        <org type="anrProject" xml:id="projanr-35707" status="VALID">
          <idno type="anr">ANR-12-INSE-0009</idno>
          <idno type="program">Ingénierie Numérique et Sécurité</idno>
          <orgName>IRIS</orgName>
          <desc>Rétine intelligente intégrant des traitements innovants.</desc>
          <date type="start">2012</date>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>