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Über dieses Buch

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.

Inhaltsverzeichnis

Frontmatter

Chapter 1. Introduction

Abstract
Human beings have always tried to surpass their own capabilities. This overcoming instinct and the continuous evolution of technology have led, at the beginning of the last century, to important advances in the fields of robotics and aeronautics, to such a degree that the ability to fly became not only a skill reserved to the animal kingdom, but a feasible, reliable and even needed type of transport in modern societies. While commercial planes became part of daily life, the development of other types of aerial vehicles also experienced important boosts, e.g. multirotors. However, all these apparatus had an important restriction: their control required complicated abilities, thus in all designs human pilots were required to operate from aboard.
Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

Chapter 2. Robot State Estimation

Abstract
Micro aerial vehicles have gained significant attention in the last decade both in academia and industry, mostly due to their potential use in a wide range of applications such as exploration [46], inspection [52], mapping, interaction with the environment [7, 44], search and rescue [27], and to their significant mechanical simplicity and ease of control. Moreover, their ability to operate in confined spaces, hover in space and even perch, together with a decrease in cost make them very attractive with tremendous potential as UAM flying platforms.
Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

Chapter 3. Visual Servo

Abstract
UAMs require more precise localization capabilities than traditional UAVs, specially during manipulation phases (i.e., mission stages where the vehicle operates close to the target). Physical interaction with the environment calls for positioning accuracy at the centimeter level, which is often difficult to achieve.
Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

Chapter 4. Task Control

Abstract
Multirotors, and in particular quadrotors such as the ones used in this book, are underactuated platforms. That is, they can change their torque load and thrust/lift by altering the velocity of the propellers, with only four DoFs (e.g., one for the thrust and three torques). But, as shown in this Chapter, the attachment of a manipulator arm to the base of the robot can be seen as a strategy to alleviate underactuation allowing UAMs to perform complex tasks.
Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto

Chapter 5. Closing Remarks

Abstract
The work presented in this book constitutes a step towards an integrated framework to address the problem of driving a UAM using visual information, including the robot state estimation and high-level task control laws. In this final chapter we discuss the conclusions derived from each chapter of this book, gathering them into an overall reflection to highlight the more important ideas and concepts.
Angel Santamaria-Navarro, Joan Solà, Juan Andrade-Cetto
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