Model Based Control Of Flying Robots For Robust Interaction Under Wind Influence

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Model Based Control Of Flying Robots For Robust Interaction Under Wind Influence

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Author : Teodor Tomić
language : en
Publisher: Springer Nature
Release Date : 2022-10-07

Model Based Control Of Flying Robots For Robust Interaction Under Wind Influence written by Teodor Tomić and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-10-07 with Technology & Engineering categories.

This book addresses the topic of autonomous flying robots physically interacting with the environment under the influence of wind. It aims to make aerial robots aware of the disturbance, interaction, and faults acting on them. This requires reasoning about the external wrench (force and torque) acting on the robot and distinguishing between wind, interactions, and collisions. The book takes a model-based approach and covers a systematic approach to parameter identification for flying robots. The book aims to provide a wind speed estimate independent of the external wrench, including estimating the wind speed using motor power measurements. Aerodynamics modeling is approached in a data-driven fashion, using ground-truth measurements from a 4D wind tunnel. Finally, the book bridges the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence. Theoretical results are accompanied by extensive simulation and experimental results.

Design Modeling And Control Of Aerial Robots For Physical Interaction And Manipulation

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Author : Burak Yüksel
language : en
Publisher: Logos Verlag Berlin GmbH
Release Date : 2017-06-10

Design Modeling And Control Of Aerial Robots For Physical Interaction And Manipulation written by Burak Yüksel and has been published by Logos Verlag Berlin GmbH this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-06-10 with Technology & Engineering categories.

Aerial robots, meaning robots with flying capabilities, are essentially robotic platforms, which are autonomously controlled via some sophisticated control engineering tools. Similar to aerial vehichles, they can overcome the gravitational forces thanks to their design and/or actuation type. What makes them different from the conventional aerial vehicles, is the level of their autonomy. Reducing the complexity for piloting of such robots/vehicles provide the human operator more freedom and comfort. With their increasing autonomy, they can perform many complicated tasks by their own (such as surveillance, monitoring, or inspection), leaving the human operator the most high-level decisions to be made, if necessary. In this way they can be operated in hazardous and challenging environments, which might posses high risks to the human health. Thanks to their wide range of usage, the ongoing researches on aerial robots is expected to have an increasing impact on the human life. Aerial Physical Interaction (APhI) is a case, in which the aerial robot exerts meaningful forces and torques (wrench) to its environment while preserving its stable flight. In this case, the robot does not try avoiding every obstacle in its environment, but prepare itself for embracing the effect of a physical interaction, furthermore turn this interaction into some meaningful robotic tasks. Aerial manipulation can be considered as a subset of APhI, where the flying robot is designed and controlled in purpose of manipulating its environment. A clear motivation of using aerial robots for physical interaction, is to benefit their great workspace and agility. Moreover, developing robots that can perform not only APhI but also aerial manipulation can bring the great workspace of the flying robots together with the vast dexterity of the manipulating arms. This thesis work is addressing the design, modeling and control problem of these aerial robots for the purpose of physical interaction and manipulation. Using the nonlinear mathematical models of the robots at hand, in this thesis several different control methods (IDA-PBC, Exact Linearization, Differential Flatness Based Control) for APhI and aerial manipulation tasks have been developed and proposed. Furthermore, novel design tools (e.g. new rigid/elastic manipulating arms, hardware, software) to be used together with miniature aerial robots are presented within this thesis, which contributes to the robotics society not only in terms of concrete theory but also practical implementation and experimental robotics.

Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction

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Author : Karen Bodie
language : en
Publisher: Springer Nature
Release Date : 2024-01-21

Omnidirectional Tilt Rotor Flying Robots For Aerial Physical Interaction written by Karen Bodie and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-21 with Technology & Engineering categories.

This book deals with the study of tilt-rotor omnidirectional aerial robots and their application to aerial physical interaction tasks. Omnidirectional aerial robots possess decoupled translational and rotational dynamics, which are important for stable and sustained aerial interaction. The additional ability to dynamically re-orient thrust vectors opens the door to a wide array of possible morphologies and system capabilities. Through modeling, control, prototype design, and experimental evaluation, this book presents a comprehensive methodology and examples for the development of a novel tilt-rotor aerial manipulator. This work serves as a guide for envisioning and constructing innovative systems that will advance the frontier of aerial manipulation.

Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers

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Author : Marco Tognon
language : en
Publisher: Springer Nature
Release Date : 2020-06-26

Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers written by Marco Tognon and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-26 with Technology & Engineering categories.

This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development.

Bio Inspired Flying Robots

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Author : Jean-Christophe Zufferey
language : en
Publisher: CRC Press
Release Date : 2008-04-24

Bio Inspired Flying Robots written by Jean-Christophe Zufferey and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-04-24 with Science categories.

This book demonstrates how bio-inspiration can lead to fully autonomous flying robots without relying on external aids. Most existing aerial robots fly in open skies, far from obstacles, and rely on external beacons, mainly GPS, to localise and navigate. However, these robots are not able to fly at low altitude or in confined environments, and

Robotics Research

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Author : Nancy M. Amato
language : en
Publisher: Springer Nature
Release Date : 2019-11-28

Robotics Research written by Nancy M. Amato and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-11-28 with Technology & Engineering categories.

ISRR, the "International Symposium on Robotics Research", is one of robotics pioneering Symposia, which has established over the past two decades some of the field's most fundamental and lasting contributions. This book presents the results of the eighteenth edition of "Robotics Research" ISRR17, offering a collection of a broad range of topics in robotics. This symposium took place in Puerto Varas, Chile from December 11th to December 14th, 2017. The content of the contributions provides a wide coverage of the current state of robotics research, the advances and challenges in its theoretical foundation and technology basis, and the developments in its traditional and new emerging areas of applications. The diversity, novelty, and span of the work unfolding in these areas reveal the field's increased maturity and expanded scope and define the state of the art of robotics and its future direction.

A First Course In Aerial Robots And Drones

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Author : Yasmina Bestaoui Sebbane
language : en
Publisher: CRC Press
Release Date : 2022-02-23

A First Course In Aerial Robots And Drones written by Yasmina Bestaoui Sebbane and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-02-23 with Computers categories.

A First Course in Aerial Robots and Drones provides an accessible and student friendly introduction to aerial robots and drones. Drones figure prominently as opportunities for students to learn various aspects of aerospace engineering and design. Drones offer an enticing entry point for STEM studies. As the use of drones in STEM studies grows, there is an emerging generation of drone pilots who are not just good at flying, but experts in specific niches, such as mapping or thermography. Key Features: Focuses on algorithms that are currently used to solve diverse problems. Enables students to solve problems and improve their science skills. Introduces difficult concepts with simple, accessible examples. Suitable for undergraduate students, this textbook provides students and other readers with methods for solving problems and improving their science skills.

Flight Formation Control

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Author : Josep M. Guerrero
language : en
Publisher: John Wiley & Sons
Release Date : 2012-12-17

Flight Formation Control written by Josep M. Guerrero and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-17 with Technology & Engineering categories.

In the last decade the development and control of Unmanned Aerial Vehicles (UAVs) has attracted a lot of interest. Both researchers and companies have a growing interest in improving this type of vehicle given their many civilian and military applications. This book presents the state of the art in the area of UAV Flight Formation. The coordination and robust consensus approaches are presented in detail as well as formation flight control strategies which are validated in experimental platforms. It aims at helping students and academics alike to better understand what coordination and flight formation control can make possible. Several novel methods are presented: - controllability and observability of multi-agent systems; - robust consensus; - flight formation control; - stability of formations over noisy networks; which generate solutions of guaranteed performance for UAV Flight Formation. Contents 1. Introduction, J.A. Guerrero. 2. Theoretical Preliminaries, J.A. Guerrero. 3. Multiagent Coordination Strategies, J.A. Guerrero, R. Lozano, M.W. Spong, N. Chopra. 4. Robust Control Design for Multiagent Systems with Parametric Uncertainty, J.A. Guerrero, G. Romero. 5. On Adaptive and Robust Controlled Synchronization of Networked Robotic Systems on Strongly Connected Graphs, Y.-C. Liu, N. Chopra. 6. Modeling and Control of Mini UAV, G. Flores Colunga, J.A. Guerrero, J. Escareño, R. Lozano. 7. Flight Formation Control Strategies for Mini UAVs, J.A. Guerrero. 8. Formation Based on Potential Functions, L. García, A. Dzul. 9. Quadrotor Vision-Based Control, J.E. Gomez-Balderas, J.A. Guerrero, S. SALAZAR, R. Lozano, P. Castillo. 10. Toward Vision-Based Coordination of Quadrotor Platoons, L.R. García Carrillo, J.A. Guerrero, R. Lozano. 11. Optimal Guidance for Rotorcraft Platoon Formation Flying in Wind Fields, J.A. Guerrero, Y. Bestaoui, R. Lozano. 12. Impact of Wireless Medium Access Protocol on the Quadrotor Formation Control, J.A. Guerrero, Y. Challal, P. Castillo. 13. MAC Protocol for Wireless Communications, A. Mendez, M. Panduro, O. Elizarraras, D. Covarrubias. 14. Optimization of a Scannable Pattern for Bidimensional Antenna Arrays to Provide Maximum Performance, A. Reyna, M.A. Panduro, A. Mendez.

Scientific And Technical Aerospace Reports

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Author :
language : en
Publisher:
Release Date : 1995

Scientific And Technical Aerospace Reports written by and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995 with Aeronautics categories.

Energy Based Modeling And Control Of Interactive Aerial Robots

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Author : Ramy Rashad
language : en
Publisher:
Release Date : 2021

Energy Based Modeling And Control Of Interactive Aerial Robots written by Ramy Rashad and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with categories.