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Robust Take-Off for a Quadrotor Vehicle

IEEE TRANSACTIONS ON robotics 2012年第3期28卷 734-742页

作者： Cabecinhas, D. Naldi, R. Marconi, L. Silvestre, C. Cunha, R. Univ Tecn Lisboa Lab Robot & Syst Engn & Sci LARSyS P-1049001 Lisbon Portugal Univ Bologna CASY DEIS I-40136 Bologna Italy Univ Tecn Lisboa LARSyS P-1049001 Lisbon Portugal Univ Macau Fac Sci & Technol Taipa Peoples R China

This paper addresses the problem of robust take-off of a quadrotor unmanned aerial vehicle (UAV) in critical scenarios, such as in the presence of sloped terrains and surrounding obstacles. Throughout the maneuver, the vehicle is modeled as a hybrid automaton whose states reflect the different dynamic behaviors exhibited by the UAV. The original takeoff problem is then addressed as the problem of tracking suitable reference signals in order to achieve the desired transitions between different hybrid states of the automaton. Reference trajectories and feedback control laws are derived to explicitly account for uncertainties in both the environment and the vehicle dynamics. Simulation results demonstrate the effectiveness of the proposed solution and highlight the advantages with respect to more standard open-loop strategies, especially for cases in which the slope of the terrain renders the take-off maneuver more critical to achieve.

关键词： aerial robotics hybrid automaton optimization under-actuated robots

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Robust Global Trajectory Tracking for Underactuated VTOL aerial Vehicles Using Inner-Outer Loop Control Paradigms

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IEEE TRANSACTIONS ON AUTOMATIC CONTROL 2017年第1期62卷 97-112页

作者： Naldi, Roberto Furci, Michele Sanfelice, Ricardo G. Marconi, Lorenzo Univ Bologna CASY DEI I-40133 Bologna Italy Univ Calif Santa Cruz Santa Cruz CA 95064 USA

This paper proposes a feedback control strategy to let the dynamics of a class of under-actuated vertical take-off and landing (VTOL) aerial vehicle tracking a desired position and attitude trajectory globally with respect to the initial conditions. The proposed feedback controller is derived following an inner-outer loop control paradigm, namely by considering the attitude, which is governed by means of a hybrid controller so as to overcome the well-known topological constraints, serving as a virtual input to stabilize the aircraft position. Two different approaches, the first one obtained by assuming perfect knowledge of the vehicle dynamics and the second one obtained by considering uncertainties and exogenous disturbances, are proposed and compared by analyzing the interconnection between the hybrid attitude and the continuous-time position closed-loop subsystems. The effectiveness of the obtained results is demonstrated by means of simulations and experiments using a miniature quadrotor prototype.

关键词： aerial robotics hybrid control interconnected systems nonlinear control robust control

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A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments

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IEEE robotics AND AUTOMATION LETTERS 2017年第2期2卷 935-942页

作者： Campos-Macias, Leobardo Gomez-Gutierrez, David Aldana-Lopez, Rodrigo de la Guardia, Rafael Parra-Vilchis, Jose I. Intel Tecnol Mexico Multiagent Autonomous Syst Lab Intel Labs Zapopan 44240 Mexico

This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently generate an obstacle-free path while the latter takes into account the robot dynamical constraints to generate a time-dependent trajectory. The main contribution of this work lies on the formulation of a convex optimization problem over the generated obstacle-free path that is guaranteed to be feasible. Thus, in contrast with previously proposed methods, iterative formulations are not required. The proposed method has been compared with state-of-the-art approaches showing a significant improvement in success rate and computation time. To illustrate the effectiveness of this approach for online planning, the proposed method was applied to the fluid autonomous navigation of a quadcopter in multiple environments consisting of up to 200 obstacles. The scenarios hereinafter presented are some of the most densely cluttered experiments for online planning and navigation reported to date. A video of the experiments can be found at https://youtube/DJ1IZRL5t1Q.

关键词： aerial robotics autonomous agents autonomous vehicle navigation collision avoidance motion and path planning

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Robotic Herding of a Flock of Birds Using an Unmanned aerial Vehicle

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IEEE TRANSACTIONS ON robotics 2018年第4期34卷 901-915页

作者： Paranjape, Aditya A. Chung, Soon-Jo Kim, Kyunam Shim, David Hyunchul Imperial Coll London Dept Aeronaut London SW7 2AZ England CALTECH Grad Aerosp Lab Pasadena CA 91125 USA Korea Adv Inst Sci & Technol Dept Elect Engn Daejeon 305701 South Korea

In this paper, we derive an algorithm for enabling a single robotic unmanned aerial vehicle to herd a flock of birds away from a designated volume of space, such as the air space around an airport. The herding algorithm, referred to as the m-waypoint algorithm, is designed using a dynamic model of bird flocking based on Reynolds' rules. We derive bounds on its performance using a combination of reduced-order modeling of the flock's motion, heuristics, and rigorous analysis. A unique contribution of the paper is the experimental demonstration of several facets of the herding algorithm on flocks of live birds reacting to a robotic pursuer. The experiments allow us to estimate several parameters of the flocking model, and especially the interaction between the pursuer and the flock. The herding algorithm is also demonstrated using numerical simulations.

关键词： aerial robotics biologically inspired robots field robots motion control

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An overactuated aerial robot based on cooperative quadrotors attached through passive universal joints: Modeling, control and 6-DoF trajectory tracking

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robotics AND AUTONOMOUS SYSTEMS 2024年 180卷

作者： Iriarte, Imanol Gorostiza, Jorge Iglesias, Inaki Lasa, Joseba Calvo-Soraluze, Hodei Sierra, Basilio Tecnalia Basque Res & Technol Alliance BRTA Mikeletegi 7 Pasealekua San Sebastian 20009 Spain Univ Basque Country UPV EHU Robot & Autonomous Syst Grp RSAIT Manuel Lardizabal 1 San Sebastian 20018 Spain

This article discusses a novel aerial robot architecture that overcomes the underactuation of conventional multirotor systems without adding dedicated rotor tilting actuators. The proposed system is based on four quadrotors cooperatively carrying a central body to which they are attached through passive universal joints. While conventional parallel axis multirotors are underactuated, the proposed mechanism makes the system overactuated, enabling independent position and orientation control of the main body. This implies that the payload can be carried in the minimum drag orientation, it enables take-off and landing on inclined surfaces and it provides thrust-vectoring capabilities to the system, leading to high control authority. A detailed dynamic model is derived making use of Lagrangian formalism and a hierarchical control law based on such model is proposed to stabilize the system. This control law is designed to ensure good tracking while minimizing power consumption. The proposed control law and the capabilities of the architecture are evaluated in simulation and in outdoor experimental flights, where the aerial robot shows autonomous tracking of the six degrees of freedom (DoF) of the main body, an inherently unfeasible maneuver for conventional underactuated multirotors.

关键词： aerial robotics Overactuation Cooperative transport VTOL UAV Passive mechanism Modeling & control

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A Review of Physics Simulators for Robotic Applications

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IEEE ACCESS 2021年 9卷 51416-51431页

作者： Collins, Jack Chand, Shelvin Vanderkop, Anthony Howard, David CSIRO Cyber Phys Syst Program Brisbane Qld 4069 Australia Queensland Univ Technol Ctr Robot Brisbane Qld 4000 Australia

The use of simulators in robotics research is widespread, underpinning the majority of recent advances in the field. There are now more options available to researchers than ever before, however navigating through the plethora of choices in search of the right simulator is often non-trivial. Depending on the field of research and the scenario to be simulated there will often be a range of suitable physics simulators from which it is difficult to ascertain the most relevant one. We have compiled a broad review of physics simulators for use within the major fields of robotics research. More specifically, we navigate through key sub-domains and discuss the features, benefits, applications and use-cases of the different simulators categorised by the respective research communities. Our review provides an extensive index of the leading physics simulators applicable to robotics researchers and aims to assist them in choosing the best simulator for their use case.

关键词： Robots Robot sensing systems Mobile robots Physics Sensors Legged locomotion Navigation Simulation review robotics field robotics soft robotics aerial robotics marine robotics manipulation robotic learning surgical robotics

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Design, control, and visual navigation of the DelftaCopter VTOL tail-sitter UAV

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JOURNAL OF FIELD robotics 2018年第6期35卷 937-960页

作者： De Wagter, Christophe Ruijsink, Rick Smeur, Ewoud J. J. van Hecke, Kevin G. van Tienen, Freek van der Horst, Erik Remes, Bart D. W. Delft Univ Technol Micro Air Vehicle Lab Kluyverweg 1 NL-2629 HS Delft Netherlands

To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can autonomously hover precisely, takeoff and land vertically, fly fast forward efficiently, and use computer vision to locate a person and a suitable landing location. The vehicle is a novel hybrid tail-sitter combining a delta-shaped biplane fixed-wing and a conventional helicopter rotor. The rotor and wing are mounted perpendicularly to each other,and the entire vehicle pitches down to transition from hover to fast forward flight where the rotor serves as propulsion. To deliver sufficient thrust in hover while still being efficient in fast forward flight, a custom rotor system was designed. The theoretical design was validated with energy measurements, wind tunnel tests, and application in real-world missions. A rotor-head and corresponding control algorithm were developed to allow transitioning flight with the nonconventional rotor dynamics that are caused by the fuselage rotor interaction. Dedicated electronics were designed that meet vehicle needs and comply with regulations to allow safe flight beyond visual line of sight. Vision-based search and guidance algorithms running on a stereo-vision fish-eye camera were developed and tested to locate a person in cluttered terrain never seen before. Flight tests and a competition participation illustrate the applicability of the DelftaCopter concept.

关键词： aerial robotics control emergency response perception sensors

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Chasing millimeters: design, navigation and state estimation for precise in-flight marking on ceilings

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AUTONOMOUS ROBOTS 2023年第8期47卷 1405-1418页

作者： Lanegger, Christian Pantic, Michael Bahnemann, Rik Siegwart, Roland Ott, Lionel Swiss Fed Inst Technol Autonomous Syst Lab Leonhardstr 21 CH-8092 Zurich Switzerland

Precise markings for drilling and assembly are crucial, laborious construction tasks. aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under laboratory conditions where rigid state estimation and navigation assumptions do not impede robustness and accuracy. This paper presents a complete aerial layouting system capable of precise markings on-site under realistic conditions. We use a compliant actuated end-effector on an omnidirectional flying base. Combining a two-stage factor-graph state estimator with a Riemannian Motion Policy-based navigation stack, we avoid the need for a globally consistent state estimate and increase robustness. The policy-based navigation is structured into individual behaviors in different state spaces. Through a comprehensive study, we show that the system creates highly precise markings at a relative precision of 1.5 mm and a global accuracy of 5-6 mm and discuss the results in the context of future construction robotics.

关键词： End-effector design Sensor fusion Riemannian Motion Policies Construction robotics aerial robotics

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Multicopter platform prototype for environmental monitoring

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JOURNAL OF CLEANER PRODUCTION 2017年第Part1期155卷 204-211页

作者： Anweiler, Stanislaw Piwowarski, Dawid Opole Univ Technol Dept Environm Engn Fac Mech Engn Opole Poland OK Strojservis Polska Sp Zoo Warsaw Poland

Due to the ecological devastation of the natural environment, there is a constant need for monitoring the environmental features changes. Airborne engineering is now rapidly developing, enabling the construction of small automatic flying vehicles, so called multicopters or flying drones. The main objective of this study is to design and manufacture the low cost and low weight quadcopter platform prototype for the purpose of the environmental monitoring and research. A multirotor concept was created, which assumed some executive functions i.e. hovering, environmental data acquisition or Global Positioning System movement. On the basis of these assumptions, platform components were chosen. They include: the frame, drives, electronics and software. Also the presentation of the environmental measurement capabilities, with the use of multicopters was done along with the discussion on application capabilities, advantages and disadvantages of Unmanned aerial Vechicles for analytical agriculture. On the basis of the project, a prototype quadcopter platform was built. During the tests some corrections to specific components were made. As a result of the whole process, a platform that is able to accomplish the tasks was created. All components of the multicopter have been described, materials used, mounting and connecting them, as well as the presentation of the specific device problems. The manufacturing cost of the drone prototype was lower than EUR 500, weight of less than 750 g and the drone performed all assumed tasks, which was considered a success of the project. Scientific value of the paper includes the guidance of cheap and efficient setup along with the applications. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： aerial robotics Unmanned vehicles Multicopters Environmental monitoring

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A unified control strategy for autonomous aerial vehicles

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AUTONOMOUS ROBOTS 2021年第6期45卷 859-883页

作者： Bulka, Eitan Nahon, Meyer McGill Univ Dept Mech Engn Montreal PQ Canada

Unmanned aerial vehicles (UAVs) have become popular in a wide range of applications, including many military and civilian uses. State-of-the-art control strategies for these vehicles are typically tailored to a specific platform and are often limited to a portion of the vehicle's flight envelope. This article presents a single physics-based controller capable of aggressive maneuvering for the majority of UAVs. The controller is applicable to UAVs with the ability to apply a force along a body-fixed direction, and a moment about an arbitrary axis, which includes UAVs such as multi-copters, conventional fixed-wing, agile fixed-wing, most flying-wings, most tailsitters, some tilt-rotor/wing platforms, and some flapping-wing vehicles. We describe the implementation of this controller on numerous platforms, and demonstrate autonomous flight in outdoor flight tests for a quadrotor and an agile fixed-wing aircraft. To specifically demonstrate the extreme maneuvering capability of the control logic, we perform a rolling flip with the quadrotor and a rolling Harrier and an aggressive turnaround with the fixed-wing aircraft, all using a single controller.

关键词： aerial robotics Control UAV Aerobatics

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