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A platform for aerial robotics research and demonstration: The Flying Machine Arena

MECHATRONICS 2014年第1期24卷 41-54页

作者： Lupashin, Sergei Hehn, Markus Mueller, Mark W. Schoellig, Angela P. Sherback, Michael D'Andrea, Raffaello Swiss Fed Inst Technol Inst Dynam Syst & Control ZH-8092 Zurich Switzerland

The Flying Machine Arena is a platform for experiments and demonstrations with fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust communication layers. An estimation and control framework along with built-in system protection components enable prototyping of new control systems concepts and implementation of novel demonstrations. More recently, a mobile version has been featured at several eminent public events. We describe the architecture of the Arena from the viewpoint of system robustness and its capability as a dual-purpose research and demonstration platform. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： aerial robotics Quadrocopters robotics testbeds Networked control systems

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ISEP/INESC TEC aerial robotics Team for Search and Rescue Operations at the euRathlon 2015

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2019年第3-4期93卷 447-460页

作者： Sousa, P. Ferreira, A. Moreira, M. Santos, T. Martins, A. Dias, A. Almeida, J. Silva, E. INESC Technol & Sci Porto Portugal Porto Polytech Inst ISEP Sch Engn Porto Portugal

This paper presents the results from search and rescue missions performed with the aerial robot OTUS in the the context of the ISEP/INESC TEC aerial robotics team participation on the euRathlon 2015 robotics competition. The multi-domain (land, sea and air) search and rescue scenario is described and technical solution adopted is presented with emphasis on the perception system. The calibration of the image based system is addressed. Results from the operational missions performed are also discussed. The aerial autonomous vehicle was able to successfully perform multiple tasks from the aerial reconnaissance and 3D mapping to the identification of leaking pipes, obstructed passages and missing workers. The system was validated a realistic operational scenario and won the Grand Challenge in cooperation with land and marine robotics partner teams. This challenge was the first time that a real time collaborative team of aerial, land and marine robots was deployed successfully in a search and rescue mission.

关键词： Field robotics Robotic competitions Search and rescue operations aerial robotics

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STAR: Swarm Technology for aerial robotics Research 24

STAR: Swarm Technology for Aerial Robotics Research

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24th International Conference on Control, Automation and Systems

作者： Chiun, Jimmy Tan, Yan Rui Cao, Yuhong Tani, John Sartoretti, Guillaume Natl Univ Singapore Coll Design & Engn Singapore Singapore

ISBN: (纸本)9798331517939;9788993215380

In recent years, the field of aerial robotics has witnessed significant progress, finding applications in diverse domains, including post-disaster search and rescue operations. Despite these strides, the prohibitive acquisition costs associated with deploying physical multi-UAV systems have posed challenges, impeding their widespread utilization in research endeavors. To overcome these challenges, we present STAR (Swarm Technology for aerial robotics Research), a framework developed explicitly to improve the accessibility of aerial swarm research experiments. Our framework introduces a swarm architecture based on the Crazyflie, a low-cost, open-source, palm-sized aerial platform, well suited for experimental swarm algorithms. To augment cost-effectiveness and mitigate the limitations of employing low-cost robots in experiments, we propose a landmark-based localization module leveraging fiducial markers. This module, also serving as a target detection module, enhances the adaptability and versatility of the framework. Additionally, collision and obstacle avoidance are implemented through velocity obstacles. The presented work strives to bridge the gap between theoretical advances and tangible implementations, thus fostering progress in the field.

关键词： aerial robotics Micro UAV Landmark Localization Robotic Application

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A Practical Framework for Multi Agent Experiments in aerial robotics 7

A Practical Framework for Multi Agent Experiments in Aerial ...

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7th International Conference on Mechanical Engineering and robotics Research (ICMERR)

作者： Knox, Samuel J. C. Crann, Verdon J. Amiri, Peyman Crowther, William J. Univ Manchester Dept MACE Manchester England

ISBN: (纸本)9781665490511

A framework is presented for distributed control of rotary wing aerial robots using open-source flight controller firmware, commercial communication and computing hardware in an outdoor visual line of sight test environment. The work builds upon existing documented frameworks that focus mainly on laboratory based experiments. The research context is evaluation of novel rules for safe intersection of high-density aerial traffic flows. The framework is based on the use of a PX4 flight controller, Linux onboard computer running bespoke flight management code, MAVlink WiFi Bridge and WiFi module on each flight vehicle, and a ground control station running QGroundControl and a bespoke graphical user interface for interaction with vehicles and control of the overall experiment. SITL functionality is provided using Gazebo for physical simulation. Communication is via WiFi, with an individual radio control transmitter for each vehicle provided as backup. The developed framework was evaluated using a fleet of 10 multirotor vehicles based on 1kg class racing drones operating in a test volume approximately 100x100x100m. Engineering evaluation results are presented in the form of an technical issue register which highlights the engineering challenges that had to be solved to achieve a practical working system. Results are then presented for an example drone traffic intersection experiment in which two helical traffic flows are joined without conflict using flight rules running local to each drone. The proposed framework has been shown to be scalable to up to 10 vehicles, with addition of further vehicles being limited by WiFi router performance. The framework is hardware agnostic as far as possible and is extensible to use for a range of different distribute control experiments.

关键词： aerial robotics Distributed Control Unmanned Traffic Management

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A Survey on aerial Swarm robotics

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IEEE TRANSACTIONS ON robotics 2018年第4期34卷 837-855页

作者： Chung, Soon-Jo Paranjape, Aditya Avinash Dames, Philip Shen, Shaojie Kumar, Vijay CALTECH Grad Aerosp Labs Pasadena CA 91125 USA Imperial Coll London Dept Aeronaut London SW7 2AZ England Temple Univ Dept Mech Engn Philadelphia PA 19122 USA Hong Kong Univ Sci & Technol Dept Elect & Comp Engn Hong Kong Peoples R China Univ Penn Sch Engn & Appl Sci Philadelphia PA 19104 USA

The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance of communication, sensing, and processing hardware. The commoditization of hardware has reduced unit costs, thereby lowering the barriers to entry to the field of aerial swarm robotics. A key enabling technology for swarms is the family of algorithms that allow the individual members of the swarm to communicate and allocate tasks amongst themselves, plan their trajectories, and coordinate their flight in such a way that the overall objectives of the swarm are achieved efficiently. These algorithms, often organized in a hierarchical fashion, endow the swarm with autonomy at every level, and the role of a human operator can be reduced, in principle, to interactions at a higher level without direct intervention. This technology depends on the clever and innovative application of theoretical tools from control and estimation. This paper reviews the state of the art of these theoretical tools, specifically focusing on how they have been developed for, and applied to, aerial swarms. aerial swarms differ from swarms of ground-based vehicles in two respects: they operate in a three-dimensional space and the dynamics of individual vehicles adds an extra layer of complexity. We review dynamic modeling and conditions for stability and controllability that are essential in order to achieve cooperative flight and distributed sensing. The main sections of this paper focus on major results covering trajectory generation, task allocation, adversarial control, distributed sensing, monitoring, and mapping. Wherever possible, we indicate how the physics and subsystem technologies of aerial robots are brought to bear on these individual areas.

关键词： aerial robotics distributed robot systems networked robots

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Al-robotics team: A cooperative multi-unmanned aerial vehicle approach for the Mohamed Bin Zayed International Robotic Challenge

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JOURNAL OF FIELD robotics 2019年第1期36卷 104-124页

作者： Castano, Angel R. Real, Fran Ramon-Soria, Pablo Capitan, Jesus Vega, Victor Arrue, Begona C. Torres-Gonzalez, Arturo Ollero, Anibal Univ Seville Robot Vis & Control Grp Engn Sch Av Camino Descubrimientos S-N Seville 41092 Spain

The Al-robotics team was selected as one of the 25 finalist teams out of 143 applications received to participate in the first edition of the Mohamed Bin Zayed International Robotic Challenge (MBZIRC), held in 2017. In particular, one of the competition Challenges offered us the opportunity to develop a cooperative approach with multiple unmanned aerial vehicles (UAVs) searching, picking up, and dropping static and moving objects. This paper presents the approach that our team Al-robotics followed to address that Challenge 3 of the MBZIRC. First, we overview the overall architecture of the system, with the different modules involved. Second, we describe the procedure that we followed to design the aerial platforms, as well as all their onboard components. Then, we explain the techniques that we used to develop the software functionalities of the system. Finally, we discuss our experimental results and the lessons that we learned before and during the competition. The cooperative approach was validated with fully autonomous missions in experiments previous to the actual competition. We also analyze the results that we obtained during the competition trials.

关键词： aerial robotics cooperative robots robot competition

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aerial-ground testbed for simulating compliant bimanual on-orbit operations: From aerial to space robotic manipulation

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robotics AND AUTONOMOUS SYSTEMS 2025年 187卷

作者： Suarez, Alejandro Gonzalez-Morgado, Antonio Ruiz, Miguel Lucena, Alejandro Giordano, Alessandro M. Ollero, Anibal Univ Seville Escuela Tecn Super Ingn GRVC Robot Lab Seville 41092 Spain Tech Univ Munchen TUM Dept Informat D-85748 Garching Germany German Aerosp Ctr DLR Inst Robot & Mechatron Munchener Str 20 D-82234 Wessling Germany

This paper presents the design and development of an aerial-ground robotics testbed for simulating bimanual manipulation operations on orbit relying on aerial robotics platforms, considering as representative use case the capture and maintenance of a non-cooperative free-floating satellite. The proposed testbed design is intended to facilitate the realization of simulations involving physical interaction, taking benefit of the technologies derived from aerial robotic manipulation, to be used as a complementary or alternative solution to existing ground testbed facilities. The system consists of a fully actuated multi-rotor (FAMR) that emulates the free flying/free floating dynamics of a target satellite, and a lightweight and compliant anthropomorphic dual arm system (LiCAS) to conduct the manipulation task, implementing the dynamics simulation in Simscape Multibody. The human-size and human-like kinematics of the LiCAS allow to replicate the manipulation skills of human operators, whereas its very low weight (2.5 kg) makes it possible to mount it on lightweight industrial robotic arms used to reproduce the spacecraft motion. Two types of compliant interactions are considered. On the one hand, impedance control for the post-contact phase is implemented in the simulation layer, using the right arm to hold the target and maintain the relative pose with the base while the left arm conducts the manipulation task. On the other hand, collision detection and passive accommodation is evaluated in the physical testing system relying on the mechanical joint compliance of the LiCAS dual arm. Collision reflexes between the free-floating FAMR and the compliant arm will be also experimentally evaluated by applying the principle of momentum conservation on the multi-rotor. The proposed approach takes benefit of the similarities between space and aerial robotic manipulation in terms of dynamic modeling, presenting simulation and experimental results in an indoor testbed to validate

关键词： Aaerial-ground testbed Simulation aerial robotics Space robotics Compliance Dual arm manipulation

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PairTilt: Design and Control of an Active Tilt-Rotor Quadcopter for Improved Efficiency and Agility

ADVANCED INTELLIGENT SYSTEMS

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ADVANCED INTELLIGENT SYSTEMS 2025年第0期

作者： Tang, Jerry Mueller, Mark W. Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

This article presents PairTilt, a novel quadcopter design with two pairs of tiltable rotors, offering a balance between the simplicity of conventional quadcopters and the agility of complex tilt-rotor systems. Despite being underactuated, with lateral motion not directly controlled, this design reduces complexity and energy consumption. The coupling of rotors reduces angular momentum issues, enhancing stability and efficiency without the challenges associated with tilting each motor individually, which would require higher servo torque due to significant gyroscopic torques. PairTilt's tiltable rotors enable agile maneuvers in confined spaces and reduce drag in high-speed flight, extending operational range. The system's dynamics are analyzed, and a cascaded controller is implemented to ensure stable flight across various scenarios. Simulations and real-world tests validate its superior agility, compact hovering, sensor pointing, and energy efficiency compared to conventional quadcopters. The primary contribution of this work lies in PairTilt's distinctive design, which achieves a unique balance of simplicity, efficiency, and agility. This balance is made possible by the pairwise rotor coupling, which reduces complexity and gyroscopic torque effects, and the prioritization of key degrees of freedom. This design approach opens new possibilities for aerial robotics applications requiring both maneuverability and efficient high-speed flight.

关键词： active tilt-rotors aerial efficiencies aerial robotics autonomous vehicles control systems drone agilities quadcopter designs

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Controlled Shaking of Trees With an aerial Manipulator

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年第2期30卷 1026-1037页

作者： Gonzalez-Morgado, Antonio Cuniato, Eugenio Tognon, Marco Heredia, Guillermo Siegwart, Roland Ollero, Anibal Univ Seville Escuela Tecn Super Ingn GRVC Robot Lab Seville 41012 Spain Swiss Fed Inst Technol Autonomous Syst Lab ASL CH-8092 Zurich Switzerland Univ Rennes CNRS Inria IRISA UMR6074 F-35000 Rennes France

In recent years, the fields of application of aerial manipulators have expanded, ranging from infrastructure inspection to physical interaction with flexible elements, such as branches and trees. This article presents the controlled shaking of a tree with an aerial manipulator. Our work aims at contributing to applications like the identification of tree parameters for environmental health monitoring or the collection of samples and fruits by vibration. To this end, we propose a control strategy for controlled shaking of flexible systems. We adopt a self-excited oscillation strategy that induces vibrations at the natural frequency of the system, at which the greatest amplification and therefore the greatest vibrations occur. Likewise, this work presents a simplified 1 degree of freedom (DoF) model based on the Rayleigh-Ritz method to analyze dynamic interaction between a tree and the aerial manipulator with the controlled shaking strategy. The proposed control strategy is evaluated through indoor experiments, where an aerial manipulator shakes an indoor tree made of bamboo canes. Experimental results show how the proposed model can estimate properly the amplitude of the vibration and the frequency of the vibration, depending on the grasping point and the control gain of the self-excited oscillation strategy.

关键词： Manipulators Autonomous aerial vehicles Vegetation Vibrations Oscillators Task analysis Potential energy aerial physical interaction aerial robotics control for manipulation control of flexible elements controlled shaking

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Mathematical modeling of an articulated flying vehicle for precise control analysis in grasping highly oscillatory objects

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2025年第6期239卷 593-613页

作者： Baha, Mirshams Saghafi, Fariborz Sharif Univ Technol Dept Aerosp Engn Tehran Iran

In this research work, a detailed mathematical modeling approach has been taken in order to develop a complete package for the investigation of phenomena associated with the flight dynamics and control of an articulated aerial robot in grasping high weight oscillatory objects such as living creatures. To this end, the origin of forces and moments generated by a moving target is analyzed and the nonlinear differential equations of the system are derived. Then, the model is verified and the effect of target oscillations on the whole system dynamics is investigated. In the next step, due to the nonlinear nature of this under-actuated system and the presence of the force-generating target with unknown dynamics and model parametric and non-parametric uncertainties, two versions of adaptive sliding mode control (A-SMC) are designed to enable the system follows the nominal trajectories in a desirable way without needing to know the upper bounds of the time-varying forces and uncertainties. In this regard, the stability of closed-loop systems is proved based on Lyapunov theory. The performance and robustness of the designed controllers are evaluated and compared through numerical and Monte Carlo simulations with some standard criteria. At the end, the conclusion of this work is presented.

关键词： Mathematical model aerial robotics adaptive sliding mode control oscillatory object grasping

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