Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications
- Length: 280 pages
- Edition: 1
- Language: English
- Publisher: Butterworth-Heinemann
- Publication Date: 2022-11-23
- ISBN-10: 0128149094
- ISBN-13: 9780128149096
- Sales Rank: #0 (See Top 100 Books)
Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications provides an in-depth look at both theory and practical applications surrounding the Aerial Robotic Worker (ARW). Emerging ARWs are fully autonomous flying robots that can assist human operations through their agile performance of aerial inspections and interaction with the surrounding infrastructure. This book addresses all the fundamental components of ARWs, starting with the hardware and software components and then addressing aspects of modeling, control, perception of the environment, and the concept of aerial manipulators, cooperative ARWs, and direct applications.
The book includes sample codes and ROS-based tutorials, enabling the direct application of the chapters and real-life examples with platforms already existing in the market.
Cover image Title page Table of Contents Copyright Dedication Contributors Chapter 1: Introduction Abstract 1.1. Introduction 1.2. Structure of the book Chapter 2: The fundamental hardware modules of an ARW Abstract 2.1. Introduction 2.2. Design of the ARWs 2.3. Battery life 2.4. Propulsion system 2.5. Sensor hardware 2.6. ROS node interfacing sensors and actuators 2.7. Compact manipulator for ARW References Chapter 3: Modeling for ARWs Abstract 3.1. Notation 3.2. Introduction 3.3. Modeling of ARWs 3.4. Conclusions References Chapter 4: Control of ARWs Abstract 4.1. Introduction 4.2. PID control 4.3. Linearized quadrotor model 4.4. LQR control 4.5. Linear model predictive control 4.6. Nonlinear MPC 4.7. Conclusions References Chapter 5: Perception capabilities for ARWs Abstract 5.1. Introduction 5.2. Mapping 5.3. State estimation 5.4. Object detection and tracking References Chapter 6: Navigation for ARWs Abstract 6.1. Introduction 6.2. Navigation architecture 6.3. Reactive local path planners 6.4. Global path planners 6.5. Conclusion References Chapter 7: Exploration with ARWs Abstract 7.1. Introduction 7.2. The overall framework for exploration and path planning 7.3. Combined path planning and exploration 7.4. Conclusions References Chapter 8: External force estimation for ARWs Abstract 8.1. Introduction 8.2. Disturbance rejection NMPC 8.3. Examples 8.4. Conclusion References Chapter 9: Perception driven guidance modules for aerial manipulation Abstract 9.1. Introduction 9.2. Perception architecture for ARW guidance 9.3. Object tracking 9.4. Object localization 9.5. Aerial manipulator system 9.6. Results References Chapter 10: Machine learning for ARWs Abstract 10.1. Introduction 10.2. AlexNet architecture 10.3. Real-life scenarios References Chapter 11: Aerial infrastructures inspection Abstract 11.1. Introduction 11.2. Problem statement 11.3. Coverage path planning of 3D maps 11.4. Multiple agent visual inspection 11.5. Results 11.6. Lessons learned 11.7. Conclusions References Chapter 12: ARW deployment for subterranean environments Abstract 12.1. Introduction 12.2. Problem statement and open challenges 12.3. State estimation 12.4. Navigation and collision avoidance 12.5. Results 12.6. Lessons learned 12.7. Conclusion References Chapter 13: Edge connected ARWs Abstract 13.1. Introduction 13.2. Edge computing 13.3. Communication layer 13.4. Conclusion References Index
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