3. Modeling a drone

3.1 Kinematic modeling

Let's consider a rigid, moving object (our drone) whose inputs are accelerations and the rotation vector. In the context of kinematic modeling, we can consider that the state vector is composed of :

• of the vector p = (p _x ,p _y ,p _z ) which gives the robot's coordinates expressed in the inertial reference frame (here the ground) ${\mathcal{R}}_0$ ;

• orientation R ;

• of the velocity vector v...