Authors:
- Covers a hot topic in the fast evolving field of flying robot manipulators
- Well written and mathematically profound and complete
- Can be used as a concise and solid introduction to the field of visual guidance and control of aerial manipulators
- Includes novel control algorithms for manipulator-augmented UAVs
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 125)
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Table of contents (5 chapters)
About this book
This monograph covers theoretical and practical aspects of the problem of autonomous guiding of unmanned aerial manipulators using visual information.
For the estimation of the vehicle state (position, orientation, velocity, and acceleration), the authors propose a method that relies exclusively on the use of low-cost and highrate sensors together with low-complexity algorithms. This is particularly interesting for applications in which on board computation with low computation power is needed.
Another relevant topic covered in this monograph is visual servoing. The authors present an uncalibrated visual servo scheme, capable of estimating at run time, the camera focal length from the observation of a tracked target.
The monograph also covers several control techniques, which achieve a number of tasks, such as robot and arm positioning, improve stability and enhance robot arm motions.
All methods discussed in this monograph are demonstrated in simulation and through real robot experimentation.
The text is appropriate for readers interested in state estimation and control of aerial manipulators, and is a reference book for people who work in mobile robotics research in general.
Authors and Affiliations
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Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain
Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto
Bibliographic Information
Book Title: Visual Guidance of Unmanned Aerial Manipulators
Authors: Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-319-96580-2
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2019
Hardcover ISBN: 978-3-319-96579-6Published: 27 August 2018
Softcover ISBN: 978-3-030-07217-9Published: 31 January 2019
eBook ISBN: 978-3-319-96580-2Published: 18 August 2018
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XIX, 140
Number of Illustrations: 40 illustrations in colour
Topics: Robotics and Automation, Artificial Intelligence, Control and Systems Theory