Replicating Extreme Maneuvers of Anna’s Hummingbirds Using a Small Indoor Quadrotor: A Simulation and Proof-of-Concept Approach

Abstract

This research investigates the capability of a small indoor quadrotor (Crazyflie 2.1) to autonomously execute extreme aerial maneuvers inspired by the courtship display dives of Anna’s Hummingbirds (Calypte anna). Utilizing a multi-camera motion tracking system (OptiTrack), the study aims to replicate these high-speed, high-acceleration dives through precise trajectory tracking and control. The primary objective is to assess the quadrotor’s ability to reproduce these maneuvers by minimizing the time-scaled root mean square error (RMSE) between the hummingbird and quadrotor trajectories to less than 10 cm, with a standard deviation of 5 cm. The research explores the engineering challenges associated with replicating such complex movements, considering factors like speed, acceleration, and physical constraints. By leveraging simulation tools (Matlab and Simulink) and subsequent proof-of-concept demonstrations, the study seeks to advance the field of unmanned aerial systems (UAS) by improving their maneuverability and understanding the biomechanical limits of extreme aerial maneuvers. Potential applications include enhanced autonomy in navigation, obstacle avoidance, and behavioral playback studies for biological research.