Overview
- Presents state-of-the-art research in the field of aerial robots
- Bridges the gap between trajectory tracking and interaction control for flying robots
- Develops and applies a systematic parameter identification procedure for aerial robots
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 151)
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Table of contents(7 chapters)
About this book
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.
Authors and Affiliations
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San Francisco, USA
Teodor Tomić
Bibliographic Information
Book Title: Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence
Authors: Teodor Tomić
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-031-15393-8
Publisher: Springer Cham
eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)
Copyright Information: Springer Nature Switzerland AG 2023
Hardcover ISBN: 978-3-031-15392-1Published: 08 October 2022
Softcover ISBN: 978-3-031-15395-2Published: 09 October 2023
eBook ISBN: 978-3-031-15393-8Published: 07 October 2022
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XX, 156
Number of Illustrations: 31 b/w illustrations, 70 illustrations in colour
Topics: Robotics and Automation, Robotics