Theory And Applications For Control And Motion Planning Of Aerial Robots In Physical Interaction With Particular Focus On Tethered Aerial Vehicles
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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.
Theory And Applications For Control And Motion Planning Of Aerial Robots In Physical Interaction With Particular Focus On Tethered Aerial Vehicles
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Author : Marco Tognon
language : en
Publisher:
Release Date : 2018
Theory And Applications For Control And Motion Planning Of Aerial Robots In Physical Interaction With Particular Focus On Tethered Aerial Vehicles written by Marco Tognon and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
This thesis focuses on the study of autonomous aerial robots interacting with the surrounding environment, and in particular on the design of new control and motion planning methods for such systems. Nowadays, autonomous aerial vehicles are extensively employed in many fields of application but mostly as autonomously moving sensors. On the other hand, in the recent field of aerial physical interaction, the goal is to go beyond sensing-only applications and fully exploit the aerial robots capabilities in order to interact with the environment. With the aim of achieving this goal, this thesis considers the analysis of a particular class of aerial robots interacting with the environment: tethered aerial vehicles. This work focuses on the thorough formal analysis of tethered aerial vehicles ranging from control and state estimation to motion planning. In particular, the differential flatness property of the system is investigated, finding two possible flat outputs that reveal new capabilities of such system for the physical interaction. The theoretical results were finally employed to solve the challenging problem of landing and takeoff on/from a sloped surface. In addition, moved by the interest on aerial physical interaction from A to Z, we addressed supplementary problems related to the design, control and motion planning for aerial manipulators.
Aerial Robotic Manipulation
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Author : Anibal Ollero
language : en
Publisher: Springer
Release Date : 2019-06-27
Aerial Robotic Manipulation written by Anibal Ollero and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-06-27 with Technology & Engineering categories.
Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.
Aerial Manipulation
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Author : Matko Orsag
language : en
Publisher: Springer
Release Date : 2017-09-19
Aerial Manipulation written by Matko Orsag and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-09-19 with Technology & Engineering categories.
This text is a thorough treatment of the rapidly growing area of aerial manipulation. It details all the design steps required for the modeling and control of unmanned aerial vehicles (UAV) equipped with robotic manipulators. Starting with the physical basics of rigid-body kinematics, the book gives an in-depth presentation of local and global coordinates, together with the representation of orientation and motion in fixed- and moving-coordinate systems. Coverage of the kinematics and dynamics of unmanned aerial vehicles is developed in a succession of popular UAV configurations for multirotor systems. Such an arrangement, supported by frequent examples and end-of-chapter exercises, leads the reader from simple to more complex UAV configurations. Propulsion-system aerodynamics, essential in UAV design, is analyzed through blade-element and momentum theories, analysis which is followed by a description of drag and ground-aerodynamic effects. The central part of the book is dedicated to aerial-manipulator kinematics, dynamics, and control. Based on foundations laid in the opening chapters, this portion of the book is a structured presentation of Newton–Euler dynamic modeling that results in forward and backward equations in both fixed- and moving-coordinate systems. The Lagrange–Euler approach is applied to expand the model further, providing formalisms to model the variable moment of inertia later used to analyze the dynamics of aerial manipulators in contact with the environment. Using knowledge from sensor data, insights are presented into the ways in which linear, robust, and adaptive control techniques can be applied in aerial manipulation so as to tackle the real-world problems faced by scholars and engineers in the design and implementation of aerial robotics systems. The book is completed by path and trajectory planning with vision-based examples for tracking and manipulation.
Small Unmanned Aircraft
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Author : Randal W. Beard
language : en
Publisher: Princeton University Press
Release Date : 2012-02-26
Small Unmanned Aircraft written by Randal W. Beard and has been published by Princeton University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-02-26 with Technology & Engineering categories.
Autonomous unmanned air vehicles (UAVs) are critical to current and future military, civil, and commercial operations. Despite their importance, no previous textbook has accessibly introduced UAVs to students in the engineering, computer, and science disciplines--until now. Small Unmanned Aircraft provides a concise but comprehensive description of the key concepts and technologies underlying the dynamics, control, and guidance of fixed-wing unmanned aircraft, and enables all students with an introductory-level background in controls or robotics to enter this exciting and important area. The authors explore the essential underlying physics and sensors of UAV problems, including low-level autopilot for stability and higher-level autopilot functions of path planning. The textbook leads the student from rigid-body dynamics through aerodynamics, stability augmentation, and state estimation using onboard sensors, to maneuvering through obstacles. To facilitate understanding, the authors have replaced traditional homework assignments with a simulation project using the MATLAB/Simulink environment. Students begin by modeling rigid-body dynamics, then add aerodynamics and sensor models. They develop low-level autopilot code, extended Kalman filters for state estimation, path-following routines, and high-level path-planning algorithms. The final chapter of the book focuses on UAV guidance using machine vision. Designed for advanced undergraduate or graduate students in engineering or the sciences, this book offers a bridge to the aerodynamics and control of UAV flight.
Practical Methods For Optimal Control And Estimation Using Nonlinear Programming
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Author : John T. Betts
language : en
Publisher: SIAM
Release Date : 2010-01-01
Practical Methods For Optimal Control And Estimation Using Nonlinear Programming written by John T. Betts and has been published by SIAM this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-01-01 with Mathematics categories.
The book describes how sparse optimization methods can be combined with discretization techniques for differential-algebraic equations and used to solve optimal control and estimation problems. The interaction between optimization and integration is emphasized throughout the book.
Advances In Unmanned Aerial Vehicles
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Author : Kimon P. Valavanis
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-02-26
Advances In Unmanned Aerial Vehicles written by Kimon P. Valavanis and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-26 with Technology & Engineering categories.
The past decade has seen tremendous interest in the production and refinement of unmanned aerial vehicles, both fixed-wing, such as airplanes and rotary-wing, such as helicopters and vertical takeoff and landing vehicles. This book provides a diversified survey of research and development on small and miniature unmanned aerial vehicles of both fixed and rotary wing designs. From historical background to proposed new applications, this is the most comprehensive reference yet.
Robot Motion Planning
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Author : Jean-Claude Latombe
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Robot Motion Planning written by Jean-Claude Latombe and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
One of the ultimate goals in Robotics is to create autonomous robots. Such robots will accept high-level descriptions of tasks and will execute them without further human intervention. The input descriptions will specify what the user wants done rather than how to do it. The robots will be any kind of versatile mechanical device equipped with actuators and sensors under the control of a computing system. Making progress toward autonomous robots is of major practical inter est in a wide variety of application domains including manufacturing, construction, waste management, space exploration, undersea work, as sistance for the disabled, and medical surgery. It is also of great technical interest, especially for Computer Science, because it raises challenging and rich computational issues from which new concepts of broad useful ness are likely to emerge. Developing the technologies necessary for autonomous robots is a formidable undertaking with deep interweaved ramifications in auto mated reasoning, perception and control. It raises many important prob lems. One of them - motion planning - is the central theme of this book. It can be loosely stated as follows: How can a robot decide what motions to perform in order to achieve goal arrangements of physical objects? This capability is eminently necessary since, by definition, a robot accomplishes tasks by moving in the real world. The minimum one would expect from an autonomous robot is the ability to plan its x Preface own motions.
Autonomous Flying Robots
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Author : Kenzo Nonami
language : en
Publisher: Springer Science & Business Media
Release Date : 2010-09-15
Autonomous Flying Robots written by Kenzo Nonami and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2010-09-15 with Technology & Engineering categories.
The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.
Unmanned Aircraft Systems
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Author : Ella Atkins
language : en
Publisher: John Wiley & Sons
Release Date : 2017-01-17
Unmanned Aircraft Systems written by Ella Atkins 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 2017-01-17 with Technology & Engineering categories.
UNMANNED AIRCRAF T SYSTEMS UNMANNED AIRCRAF T SYSTEMS An unmanned aircraft system (UAS), sometimes called a drone, is an aircraft without a human pilot on board ??? instead, the UAS can be controlled by an operator station on the ground or may be autonomous in operation. UAS are capable of addressing a broad range of applications in diverse, complex environments. Traditionally employed in mainly military applications, recent regulatory changes around the world are leading to an explosion of interest and wide-ranging new applications for UAS in civil airspace. Covering the design, development, operation, and mission profiles of unmanned aircraft systems, this single, comprehensive volume forms a complete, stand-alone reference on the topic. The volume integrates with the online Wiley Encyclopedia of Aerospace Engineering, providing many new and updated articles for existing subscribers to that work. The chapters cover the following items: Airframe configurations and design (launch systems, power generation, propulsion) Operations (missions, integration issues, and airspace access) Coordination (multivehicle cooperation and human oversight) With contributions from leading experts, this volume is intended to be a valuable addition, and a useful resource, for aerospace manufacturers and suppliers, governmental and industrial aerospace research establishments, airline and aviation industries, university engineering and science departments, and industry analysts, consultants, and researchers.