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Dataset assetOpen Source CommunityQuadrotorFlight Data

Pelican Quadrotor Dataset

The dataset contains 54 flight records covering a wide range of flight conditions. Data are stored in MATLAB cell format and include sample count, position and orientation measurements, actual motor speeds and commanded speeds, computed velocities, and body rates.

Source
github
Created
Sep 15, 2017
Updated
Nov 24, 2022
Signals
403 views
Availability
Linked source ready
Overview

Dataset description and usage context

Pelican Dataset Overview

Basic Information

Dataset Content

Vehicle Information

  • Model: AscTec Pelican lightweight quadrotor
  • Configuration: Real‑time autopilot board with an onboard computer running Ubuntu, communicating via UART
  • Software: ROS Indigo for collecting motor speed and IMU data
  • Operating environment: Indoor, piloted by an expert using a Futaba T7C remote controller

Dataset Description

  • Number of flights: 54
  • Data structure: MATLAB cell containing fields:
    • len: number of samples
    • Pos: position measurements (x, y, z) from Vicon, 3‑by‑len matrix
    • Euler: orientation measurements (roll, pitch, yaw) from Vicon, 3‑by‑len matrix
    • Motors: actual motor speeds, 4‑by‑len matrix
    • Motors_CMD: commanded motor speeds, 4‑by‑len matrix
    • Vel: computed velocities (v_x, v_y, v_z), 3‑by‑(len‑1) matrix
    • pqr: computed body rates (p, q, r), 3‑by‑(len‑1) matrix

Citation

If you use this dataset, please cite the following papers:

  • [1] Deep Learning a Quadrotor Dynamic Model for Multi‑Step Prediction, N. Mohajerin, M. Mozifian, S. L. Waslander, IEEE International Conference on Robotics and Automation (ICRA), 2018.
  • [2] Multistep Prediction of Dynamic Systems With Recurrent Neural Networks, N. Mohajerin, S. L. Waslander, IEEE Transactions on Neural Networks and Learning Systems, 2019.
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