Aerial Robotic Manipulation Research Development and Applications Anibal Ollero 3030129454 9783030129453

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Product details:

• ISBN 10: 3030129454
• ISBN 13: 9783030129453
• Author: Anibal Ollero

Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems.

Table of contents:

Part I. Introduction
Introduction
Part II. Aerial Robots with Arms: Design, Modelling and Mechatronics Aspects
Modeling and Design of Multirotors with Multi-joint Arms
Helicopter Based Aerial Manipulators
Platforms with Multi-directional Total Thrust
Multirotor Aerodynamic Effects in Aerial Manipulation
Compliant Aerial Manipulators with Dual Arms
Part III. Control of Aerial Manipulators
Behavioral Coordinated Kinematic Control
Centralized Control of Multirotors with Manipulators
Centralized Control of Helicopters with Manipulators
Decoupled Impedance and Passivity Control Methods
Decentralized Control of Aerial Manipulators Through a Momentum-Based Estimator
Interaction Control of Platforms with Multi-directional Total Thrust
Visual Servoing of Aerial Manipulators
Coordinated Control of Multiple Aerial Manipulators
Part IV. Perception for Aerial Robotic Manipulation
Odometry Estimation for Aerial Manipulators
Absolute Localization and Mapping of Aerial Manipulators
Relative Localization for Aerial Manipulation with PL-SLAM
Precise Localization for Aerial Inspection Using Augmented Reality Markers
Robust Perception for Aerial Inspection: Adaptive and On-Line Techniques
Perception for Detection and Grasping
Object Detection and Probabilistic Object Representation for Grasping with Two Arms
Part V. Planning for Aerial Robotic Manipulation
Combining Assembly Planning and Geometric Task Planning
Motion Planning
Reactivity and Dynamic Obstacle Avoidance
Part VI. Applications
Structure Assembly
Inspection and Maintenance
Part VII. Conclusions and Future Directions

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