subject:(aerial manipulation)

Virginia Tech

1. Nagori, Chinmay. Unmanned Aerial Manipulators in Construction - Opportunities and Challenges.

Degree: MS, Civil Engineering, 2020, Virginia Tech

► Drones or Unmanned Aerial Manipulators have been used in the construction industry to collect visual data in form of images, videos, or to map surveys,… (more)

Subjects/Keywords: aerial manipulation; construction; aerial robots; drones

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APA (6^th Edition):

Nagori, C. (2020). Unmanned Aerial Manipulators in Construction - Opportunities and Challenges. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/101663

Chicago Manual of Style (16^th Edition):

Nagori, Chinmay. “Unmanned Aerial Manipulators in Construction - Opportunities and Challenges.” 2020. Masters Thesis, Virginia Tech. Accessed February 27, 2021. http://hdl.handle.net/10919/101663.

MLA Handbook (7^th Edition):

Nagori, Chinmay. “Unmanned Aerial Manipulators in Construction - Opportunities and Challenges.” 2020. Web. 27 Feb 2021.

Vancouver:

Nagori C. Unmanned Aerial Manipulators in Construction - Opportunities and Challenges. [Internet] [Masters thesis]. Virginia Tech; 2020. [cited 2021 Feb 27]. Available from: http://hdl.handle.net/10919/101663.

Council of Science Editors:

Nagori C. Unmanned Aerial Manipulators in Construction - Opportunities and Challenges. [Masters Thesis]. Virginia Tech; 2020. Available from: http://hdl.handle.net/10919/101663

Delft University of Technology

2. van den Bos, Pepijn (author). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

► With the decrease in sensor and actuator costs decentralized control strategies have become increasingly attractive, aiming to use multiple simpler robots for achieving a global… (more)

Subjects/Keywords: decentralized control; aerial towing; cooperative manipulation

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APA (6^th Edition):

van den Bos, P. (. (2018). Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

Chicago Manual of Style (16^th Edition):

van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Masters Thesis, Delft University of Technology. Accessed February 27, 2021. http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.

MLA Handbook (7^th Edition):

van den Bos, Pepijn (author). “Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem.” 2018. Web. 27 Feb 2021.

Vancouver:

van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Feb 27]. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6.

Council of Science Editors:

van den Bos P(. Decentralized cooperative manipulation and consensus through object sensing: Applied to the aerial towing problem. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:dab2f168-2e7f-4126-831d-50bf9c0409f6

3. Jiang, Guangying. Dexterous Hexrotor UAV Platform.

Degree: MS, Electrical Engineering, 2013, U of Denver

URL: https://digitalcommons.du.edu/etd/321

► Mobile manipulation is a hot area of study in robotics as it unites the two classes of robots: locomotors and manipulators. An emerging niche… (more)

Subjects/Keywords: Manipulation; Unmanned aerial vehicle; Mobile manipulation; Engineering; Robotics

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APA (6^th Edition):

Jiang, G. (2013). Dexterous Hexrotor UAV Platform. (Thesis). U of Denver. Retrieved from https://digitalcommons.du.edu/etd/321

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Jiang, Guangying. “Dexterous Hexrotor UAV Platform.” 2013. Thesis, U of Denver. Accessed February 27, 2021. https://digitalcommons.du.edu/etd/321.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Jiang, Guangying. “Dexterous Hexrotor UAV Platform.” 2013. Web. 27 Feb 2021.

Vancouver:

Jiang G. Dexterous Hexrotor UAV Platform. [Internet] [Thesis]. U of Denver; 2013. [cited 2021 Feb 27]. Available from: https://digitalcommons.du.edu/etd/321.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Jiang G. Dexterous Hexrotor UAV Platform. [Thesis]. U of Denver; 2013. Available from: https://digitalcommons.du.edu/etd/321

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

4. Young, Sierra Noelle. Human-robot interaction for telemanipulation by small unmanned aerial systems.

Degree: PhD, Civil Engineering, 2018, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/102904

► This dissertation investigated the human-robot interaction (HRI) for the Mission Specialist role in a telemanipulating unmanned aerial system (UAS). The emergence of commercial unmanned aerial… (more)

▼ This dissertation investigated the human-robot interaction (HRI) for the Mission Specialist role in a telemanipulating unmanned aerial system (UAS). The emergence of commercial unmanned aerial vehicle (UAV) platforms transformed the civil and environmental engineering industries through applications such as surveying, remote infrastructure inspection, and construction monitoring, which normally use UAVs for visual inspection only. Recent developments, however, suggest that performing physical interactions in dynamic environments will be important tasks for future UAS, particularly in applications such as environmental sampling and infrastructure testing. In all domains, the availability of a Mission Specialist to monitor the interaction and intervene when necessary is essential for successful deployments. Additionally, manual operation is the default mode for safety reasons; therefore, understanding Mission Specialist HRI is important for all small telemanipulating UAS in civil engineering, regardless of system autonomy and application. A 5 subject exploratory study and a 36 subject experimental study were conducted to evaluate variations of a dedicated, mobile Mission Specialist interface for aerial telemanipulation from a small UAV. The Shared Roles Model was used to model the UAS human-robot team, and the Mission Specialist and Pilot roles were informed by the current state of practice for manipulating UAVs. Three interface camera view designs were tested using a within-subjects design, which included an egocentric view (perspective from the manipulator), exocentric view (perspective from the UAV), and mixed egocentric-exocentric view. The experimental trials required Mission Specialist participants to complete a series of tasks with physical, visual, and verbal requirements. Results from these studies found that subjects who preferred the exocentric condition performed tasks 50% faster when using their preferred interface; however, interface preferences did not affect performance for participants who preferred the mixed condition. This result led to a second finding that participants who preferred the exocentric condition were distracted by the egocentric view during the mixed condition, likely caused by cognitive tunneling, and the data suggest tradeoffs between performance improvements and attentional costs when adding information in the form of multiple views to the Mission Specialist interface. Additionally, based on this empirical evaluation of multiple camera views, the exocentric view was recommended for use in a dedicated Mission Specialist telemanipulation interface. Contributions of this thesis include: i) conducting the first focused HRI study of aerial telemanipulation, ii) development of an evaluative model for telemanipulation performance, iii) creation of new recommendations for aerial telemanipulation interfacing, and iv) contribution of code, hardware designs, and system architectures to the open-source UAV community. The evaluative model provides a detailed framework, a complement to the… Advisors/Committee Members: Peschel, Joshua (advisor), Work, Daniel (Committee Chair), Bernacchi, Carl (committee member), Popovics, John (committee member).

Subjects/Keywords: unmanned aerial vehicle; human-robot interaction; telemanipulation; aerial manipulation

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APA (6^th Edition):

Young, S. N. (2018). Human-robot interaction for telemanipulation by small unmanned aerial systems. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/102904

Chicago Manual of Style (16^th Edition):

Young, Sierra Noelle. “Human-robot interaction for telemanipulation by small unmanned aerial systems.” 2018. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed February 27, 2021. http://hdl.handle.net/2142/102904.

MLA Handbook (7^th Edition):

Young, Sierra Noelle. “Human-robot interaction for telemanipulation by small unmanned aerial systems.” 2018. Web. 27 Feb 2021.

Vancouver:

Young SN. Human-robot interaction for telemanipulation by small unmanned aerial systems. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2018. [cited 2021 Feb 27]. Available from: http://hdl.handle.net/2142/102904.

Council of Science Editors:

Young SN. Human-robot interaction for telemanipulation by small unmanned aerial systems. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2018. Available from: http://hdl.handle.net/2142/102904

5. Thomas, Justin. Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles.

Degree: 2017, University of Pennsylvania

URL: https://repository.upenn.edu/edissertations/2605

► Micro Aerial Vehicles (MAVs) have seen a dramatic growth in the consumer market because of their ability to provide new vantage points for aerial photography… (more)

Subjects/Keywords: Aerial Manipulation; Aerial Robotics; Micro Aerial Vehicles; Visual Servoing; Engineering; Mechanical Engineering; Robotics

10 more images…

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APA (6^th Edition):

Thomas, J. (2017). Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/2605

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Thomas, Justin. “Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles.” 2017. Thesis, University of Pennsylvania. Accessed February 27, 2021. https://repository.upenn.edu/edissertations/2605.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Thomas, Justin. “Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles.” 2017. Web. 27 Feb 2021.

Vancouver:

Thomas J. Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles. [Internet] [Thesis]. University of Pennsylvania; 2017. [cited 2021 Feb 27]. Available from: https://repository.upenn.edu/edissertations/2605.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Thomas J. Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles. [Thesis]. University of Pennsylvania; 2017. Available from: https://repository.upenn.edu/edissertations/2605

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Utah State University

6. Ghadiok, Vaibhav. Autonomous Aerial Manipulation Using a Quadrotor.

Degree: MS, Electrical and Computer Engineering, 2011, Utah State University

URL: https://digitalcommons.usu.edu/etd/1034

► This paper presents an implementation of autonomous indoor aerial gripping using a low-cost, custom-built quadrotor. Such research extends the typical functionality of micro air… (more)

Subjects/Keywords: Autonomous Aerial Manipulation Using a Quadrotor; Electrical and Computer Engineering; Engineering

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ghadiok, V. (2011). Autonomous Aerial Manipulation Using a Quadrotor. (Masters Thesis). Utah State University. Retrieved from https://digitalcommons.usu.edu/etd/1034

Chicago Manual of Style (16^th Edition):

Ghadiok, Vaibhav. “Autonomous Aerial Manipulation Using a Quadrotor.” 2011. Masters Thesis, Utah State University. Accessed February 27, 2021. https://digitalcommons.usu.edu/etd/1034.

MLA Handbook (7^th Edition):

Ghadiok, Vaibhav. “Autonomous Aerial Manipulation Using a Quadrotor.” 2011. Web. 27 Feb 2021.

Vancouver:

Ghadiok V. Autonomous Aerial Manipulation Using a Quadrotor. [Internet] [Masters thesis]. Utah State University; 2011. [cited 2021 Feb 27]. Available from: https://digitalcommons.usu.edu/etd/1034.

Council of Science Editors:

Ghadiok V. Autonomous Aerial Manipulation Using a Quadrotor. [Masters Thesis]. Utah State University; 2011. Available from: https://digitalcommons.usu.edu/etd/1034

7. Bicego, Davide. Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks : Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne.

Degree: Docteur es, Robotique et automatique, 2019, Toulouse, INSA

URL: http://www.theses.fr/2019ISAT0025

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Cette thèse aborde l’étude de véhicules aériens autonomes interagissant d’une façon active avec l’environnement, en portant une attention particulière au développement des techniques de modélisation,… (more)

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Cette thèse aborde l’étude de véhicules aériens autonomes interagissant d’une façon active avec l’environnement, en portant une attention particulière au développement des techniques de modélisation, de conception, et de stratégies de commande appropriées pour ces systèmes. L’étude de ces systèmes étant intrinsèquement complexe et relativement récente, de nouvelles techniques sont nécessaires pour : i) mieux décrire la dynamique du véhicule aérien et ses contraintes d’actionnement ; ii) concevoir efficacement de nouveaux prototypes aériens dotés de propriétés particulières de dextérité et de résilience ; iii) garantir un contrôle stable pendant les opérations sans contact malgré les contraintes d’actionnement ; et iv) préserver la stabilité du système pendant la phase de contact avec l’environnement tout en garantissant l’accomplissement de la tâche de manipulation. Cette thèse explore de nouvelles stratégies pour surmonter, dans une certaine mesure, les problèmes de sous-actionnement des véhicules traditionnels, conçus avec les hélices orientées dans une même direction. L’objectif de cette thèse est d’enrichir les résultats théoriques préliminaires sur de nouvelles plateformes et, en outre, de contribuer au développement de systèmes robotiques aériens réels plus appropriés aux moyens de manipulation améliorés et adaptés aux tâches d’interaction physique aérienne. Cette thèse s’inscrit dans le cadre du projet européen H2020 AeroArms, dont le but est de développer des systèmes robotiques aériens dotés de capacités de manipulation avancées à appliquer dans les domaines de l’inspection et de la maintenance industrielles. Par conséquent, l’impact sur l’industrie joue ici un rôle important.629.8

This thesis addresses the study of autonomous Aerial Vehicles (AVs) actively interacting with the surrounding environment, with particular attention to the development of modeling and design techniques, and suitable control strategies for these systems. Due to the intrinsic difficulty and the novelty associated with the study of these systems, new techniques are needed to: i) better describe the aerial vehicle dynamics and its actuation limits; ii) effectively design new aerial prototypes with particular properties of dexterity and resilience; iii) guarantee a stable control during contact-less operations despite the actuation limits; and iv) preserve the system stability also during the contact phase with the environment while guaranteeing the fulfillment of the sought manipulation task. This thesis explores new strategies to overcome, to a certain extent, the under-actuation problem of classical multi-rotor platforms, conceived with the propellers aligned towards a common direction. The goal of this thesis is to contribute to a wise growth of the preliminary theoretical results on multi-directional thrust aerial vehicles laid by the state of the art and, furthermore, to the development of more suitable real aerial robotic systems with enhanced manipulation means, tailored for aerial physical interaction tasks. This thesis…

Advisors/Committee Members: Franchi, Antonio (thesis director).

Subjects/Keywords: Robots aériens à poussée multidirectionnelle; Interaction physique aérienne; Manipulation aérienne; Robotique; Contrôle automatique; Multidirectional-thrust aerial robots; Aerial physical interaction; Aerial manipulation; Robotics; Automatic control; 629.8

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APA (6^th Edition):

Bicego, D. (2019). Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks : Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne. (Doctoral Dissertation). Toulouse, INSA. Retrieved from http://www.theses.fr/2019ISAT0025

Chicago Manual of Style (16^th Edition):

Bicego, Davide. “Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks : Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne.” 2019. Doctoral Dissertation, Toulouse, INSA. Accessed February 27, 2021. http://www.theses.fr/2019ISAT0025.

MLA Handbook (7^th Edition):

Bicego, Davide. “Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks : Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne.” 2019. Web. 27 Feb 2021.

Vancouver:

Bicego D. Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks : Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne. [Internet] [Doctoral dissertation]. Toulouse, INSA; 2019. [cited 2021 Feb 27]. Available from: http://www.theses.fr/2019ISAT0025.

Council of Science Editors:

Bicego D. Design and Control of Multi-Directional Thrust Multi-Rotor Aerial Vehicles with applications to Aerial Physical Interaction Tasks : Conception et contrôle de véhicules aériens multi-rotors a poussé multi-directionnelle avec application aux taches d'interaction physique aérienne. [Doctoral Dissertation]. Toulouse, INSA; 2019. Available from: http://www.theses.fr/2019ISAT0025

8. Alvarez muñoz, Jonatan. Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides.

Degree: Docteur es, Automatique - productique, 2017, Université Grenoble Alpes (ComUE); Universidad Autónoma de Puebla

URL: http://www.theses.fr/2017GREAT077

►

La manipulation aérienne a été un domaine de recherche actif ces dernières années, principalement parce que les applications actives des véhicules aériens autonomes (UAV en… (more)

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La manipulation aérienne a été un domaine de recherche actif ces dernières années, principalement parce que les applications actives des véhicules aériens autonomes (UAV en anglais), augmente l'employabilité de ces véhicules pour diverses applications.Le développement récent de la manipulation aérienne a trouvé des applications potentielles dans les deux domaines, militaires et civils. Les applications militaires incluent le patrouilleur des frontières, la détection des mines, la reconnaissance, etc., tandis que les applications civiles sont en matière de gestion des catastrophes, d'inspection des ponts, de construction, de livraison de matériel, de recherche et de sauvetage, etc.La recherche sur la robotique aérienne implique principalement des hélicoptères et des architectures de décollage et d'atterrissage verticales (VTOL). Le principal avantage de ces plates-formes est leur maniabilité et la capacité d'effectuer des vols stationnaires, ce qui est essentiel pour les applications. Cette thèse porte sur les avions VTOL, où l'hélicoptère à quatre rotors ou quadrirotor est principalement étudié.En ce qui concerne le problème de la manipulation aérienne, la quantité d'applications augmente, mais en même temps, la complexité de la modélisation et du contrôle d'un tel système est également plus grande. L'un des plus grands défis réside dans leur charge utile limitée. Certaines approches ont essayé de résoudre le problème en utilisant plusieurs robots pour transporter des charges utiles avec des pinces ou des câbles, où leurs effecteurs et pinces doivent être légers eux-mêmes et capables de saisir des formes complexes. Un autre défi est que la dynamique du robot est considérablement modifiée par l'ajout de charges utiles. Cependant, pour le transport de la charge utile, il est nécessaire que les robots puissent estimer l'inertie de la charge utile et s'y adapter pour améliorer les performances de suivi.Selon les antécédents et les défis sur les véhicules VTOL portant des charges utiles ou des manipulateurs, la contribution du présent travail est centrée sur la modélisation et la conception d'une loi de commande non linéaire et une analyse de stabilité formelle pour la stabilisation asymptotique d'un véhicule VTOL portant un bras manipulateur. Pour cela, un modèle général d'un quadrirotor portant un bras manipulateur est proposé. Après cela, une loi de commande presque globalement asymptotique lisse pour la stabilisation de l'attitude qui prend en compte les effets de mouvement du bras est conçue. Une fois que le problème d'attitude est résolu, il est possible de concevoir un contrôleur non linéaire globalement asymptotique pour la dynamique de position basée sur l'utilisation de somme des fonctions saturés afin de prendre en compte les limitations des actionneurs. Enfin, certaines expériences pour valider les lois de commande proposées sont effectuées.

Aerial manipulation has been an active area of research in recent years, mainly because the active tasking of Unmanned Aerial Vehicles (UAV) increases the employability…

Advisors/Committee Members: Marchand, Nicolas (thesis director).

Subjects/Keywords: Quadrotor; Manipulation aérienne; Contrôle optimal; Rejet de perturbation; Quadrotor; Aerial manipulation; Optimal control; Disturbance rejection; 620

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APA (6^th Edition):

Alvarez muñoz, J. (2017). Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides. (Doctoral Dissertation). Université Grenoble Alpes (ComUE); Universidad Autónoma de Puebla. Retrieved from http://www.theses.fr/2017GREAT077

Chicago Manual of Style (16^th Edition):

Alvarez muñoz, Jonatan. “Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides.” 2017. Doctoral Dissertation, Université Grenoble Alpes (ComUE); Universidad Autónoma de Puebla. Accessed February 27, 2021. http://www.theses.fr/2017GREAT077.

MLA Handbook (7^th Edition):

Alvarez muñoz, Jonatan. “Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides.” 2017. Web. 27 Feb 2021.

Vancouver:

Alvarez muñoz J. Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides. [Internet] [Doctoral dissertation]. Université Grenoble Alpes (ComUE); Universidad Autónoma de Puebla; 2017. [cited 2021 Feb 27]. Available from: http://www.theses.fr/2017GREAT077.

Council of Science Editors:

Alvarez muñoz J. Modeling and control of VTOL vehicles with rigid manipulators : Modélisation et contrôle des véhicules VTOL avec manipulateurs rigides. [Doctoral Dissertation]. Université Grenoble Alpes (ComUE); Universidad Autónoma de Puebla; 2017. Available from: http://www.theses.fr/2017GREAT077

Oklahoma State University

9. Thapa, Sandesh. Cooperative aerial manipulation with force control and attitude stabilization.

Degree: Mechanical and Aerospace Engineering, 2018, Oklahoma State University

URL: http://hdl.handle.net/11244/321168

► We develop an adaptive decentralized control law for transporting a payload of unknown mass without explicit communication between the agents. Our controller ensures that all… (more)

Subjects/Keywords: aerial manipulation; cooperative control; force control; load transport; multi-agent system; robotics

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APA (6^th Edition):

Thapa, S. (2018). Cooperative aerial manipulation with force control and attitude stabilization. (Thesis). Oklahoma State University. Retrieved from http://hdl.handle.net/11244/321168

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Thapa, Sandesh. “Cooperative aerial manipulation with force control and attitude stabilization.” 2018. Thesis, Oklahoma State University. Accessed February 27, 2021. http://hdl.handle.net/11244/321168.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Thapa, Sandesh. “Cooperative aerial manipulation with force control and attitude stabilization.” 2018. Web. 27 Feb 2021.

Vancouver:

Thapa S. Cooperative aerial manipulation with force control and attitude stabilization. [Internet] [Thesis]. Oklahoma State University; 2018. [cited 2021 Feb 27]. Available from: http://hdl.handle.net/11244/321168.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Thapa S. Cooperative aerial manipulation with force control and attitude stabilization. [Thesis]. Oklahoma State University; 2018. Available from: http://hdl.handle.net/11244/321168

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

10. Staub, Nicolas. Models, algorithms and architectures for cooperative manipulation with aerial and ground robots : Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens.

Degree: Docteur es, Robotique, 2018, Université Toulouse III – Paul Sabatier

URL: http://www.theses.fr/2018TOU30169

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Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux… (more)

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Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation, du sol vers les airs. Cette thèse contribue au domaine de la manipulation aérienne en proposant un nouveau concept appelé MAGMaS, pour " Multiple Aerial Ground Manipulator System ". Les motivations qui ont conduites à l'association de manipulateurs terrestres et aériens pour effectuer des tâches de manipulation coopérative, résident dans une volonté d'exploiter leurs particularités respectives. Les manipulateurs terrestres apportant leur importante force et les manipulateurs aériens apportant leur vaste espace de travail. La première contribution de cette thèse présente une modélisation rigoureuse des MAGMaS. Les propriétés du système ainsi que ses possibles extensions sont discutées. Les méthodes de planning, d'estimation et de régulation nécessaire à l'exploitation des MAGMaS pour des tâches de manipulation collaborative sont dérivées. Ce travail propose d'exploiter les redondances des MAGMaS grâce à un algorithme optimal d'allocation de forces entre les manipulateurs. De plus, une méthode générale d'estimation de forces pour robots aériens est introduite. Toutes les techniques et les algorithmes présentés dans cette thèse sont intégrés dans une architecture globale, utilisée à la fois pour la simulation et la validation expérimentale. Cette architecture est en outre augmentée par l'addition d'une structure de télé-présence, afin de permettre l'opération à distances des MAGMaS. L'architecture générale est validée par une démonstration de levage de barre, qui est une application représentative des potentiels usages des MAGMaS. Une autre contribution relative au développement des MAGMaS consiste en une étude exploratoire de la flexibilité dans les objets manipulés par un MAGMaS. Un modèle du phénomène vibratoire est dérivé afin de mettre en exergue ses propriétés en termes de contrôle. La dernière contribution de cette thèse consiste en une étude exploratoire sur l'usage des actionneurs à raideur variable dans les robots aériens, dotant ces systèmes d'une compliance mécanique intrinsèque et de capacité de stockage d'énergie. Les fondements théoriques sont associés à la synthèse d'un contrôleur non-linéaire. L'approche proposée est validée par le biais d'expériences reposant sur l'intégration d'un actionneur à raideur variable léger sur un robot aérien.

In recent years, the subject of physical interaction for aerial robots has been a popular research area with many new mechanical designs and control approaches being…

Advisors/Committee Members: Franchi, Antonio (thesis director).

Subjects/Keywords: Systèmes cyber-physiques; Système de manipulation aérienne; Commande partagée; Commande et observateur non-linéaires; Manipulation avec actionneur souple; Cyber-physical systems; Aerial manipulation systems; Shared control; Non-linear

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Staub, N. (2018). Models, algorithms and architectures for cooperative manipulation with aerial and ground robots : Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens. (Doctoral Dissertation). Université Toulouse III – Paul Sabatier. Retrieved from http://www.theses.fr/2018TOU30169

Chicago Manual of Style (16^th Edition):

Staub, Nicolas. “Models, algorithms and architectures for cooperative manipulation with aerial and ground robots : Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens.” 2018. Doctoral Dissertation, Université Toulouse III – Paul Sabatier. Accessed February 27, 2021. http://www.theses.fr/2018TOU30169.

MLA Handbook (7^th Edition):

Staub, Nicolas. “Models, algorithms and architectures for cooperative manipulation with aerial and ground robots : Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens.” 2018. Web. 27 Feb 2021.

Vancouver:

Staub N. Models, algorithms and architectures for cooperative manipulation with aerial and ground robots : Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens. [Internet] [Doctoral dissertation]. Université Toulouse III – Paul Sabatier; 2018. [cited 2021 Feb 27]. Available from: http://www.theses.fr/2018TOU30169.

Council of Science Editors:

Staub N. Models, algorithms and architectures for cooperative manipulation with aerial and ground robots : Modèles, algorithmes et architectures pour la manipulation coopérative entre robots au sol et aériens. [Doctoral Dissertation]. Université Toulouse III – Paul Sabatier; 2018. Available from: http://www.theses.fr/2018TOU30169

11. Tognon, Marco. Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles : Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications.

Degree: Docteur es, Robotique et automatique, 2018, Toulouse, INSA

URL: http://www.theses.fr/2018ISAT0030

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Cette thèse se concentre sur les robots aériens autonomes qui interagissent avec l’environnement et en particulier sur la conception de nouvelles méthodes de commande et… (more)

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Cette thèse se concentre sur les robots aériens autonomes qui interagissent avec l’environnement et en particulier sur la conception de nouvelles méthodes de commande et de planification de mouvement pour tels systèmes. De nos jours, les véhicules aériens autonomes sont de plus en plus utilisés dans des nombreux domaines d’application, mais ils viennent utilisés surtout comme des simples capteurs. Au vu de ça, les défis majeurs dans le domaine de l’interaction physique aérienne, est aujourd’hui d’aller au-delà de cette application limitée, et d’exploiter entièrement les capacités des robots aériens afin d’interagir avec l’environnement. Dans le but de réaliser cet objectif, cette thèse considère l’analyse d’une classe spécifique de systèmes aériens interagissant avec l’environnement : les véhicules aériens attachés avec des câbles ou des bars. Ce travail se concentre sur l’analyse formelle et minutieuse de véhicules aériens attachés, en allant du contrôle et l’évaluation d’état à la planification du mouvement. Nous avons examiné notamment la platitude différentielle du système, trouvant deux sorties plate possibles qui révèlent des nouvelles capacités de tel système pour l’interaction physiques. En plus, poussé par l’intérêt pour l’interaction physique aérienne d’A à Z, nous avons abordés des problèmes supplémentaires liés à la conception, au contrôle et à la planification du mouvement pour des manipulateurs aériens.

This thesis focuses on the study of autonomous aerial robots interacting with the surrounding environment, and in particular on the design of new control and motion planning methods for such systems. Nowadays, autonomous aerial vehicles are extensively employed in many fields of application but mostly as autonomously moving sensors. On the other hand, in the recent field of aerial physical interaction, the goal is to go beyond sensing-only applications and fully exploit the aerial robots capabilities in order to interact with the environment. With the aim of achieving this goal, this thesis considers the analysis of a particular class of aerial robots interacting with the environment: tethered aerial vehicles. This work focuses on the thorough formal analysis of tethered aerial vehicles ranging from control and state estimation to motion planning. In particular, the differential flatness property of the system is investigated, finding two possible flat outputs that reveal new capabilities of such system for the physical interaction. The theoretical results were finally employed to solve the challenging problem of landing and takeoff on/from a sloped surface. In addition, moved by the interest on aerial physical interaction from A to Z, we addressed supplementary problems related to the design, control and motion planning for aerial manipulators.

Advisors/Committee Members: Franchi, Antonio (thesis director), Cortés, Juan (thesis director).

Subjects/Keywords: Robots aériens; Interaction physique aérienne; Véhicules aériens attachés par des câbles ou des bars; Commande; Planification du mouvement; Manipulation aérienne; Aerial robots; Aerial physical interaction; Tethered aerial vehicles; Control; Motion planning; Aerial manipulation; 629.8; 629.892

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Tognon, M. (2018). Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles : Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications. (Doctoral Dissertation). Toulouse, INSA. Retrieved from http://www.theses.fr/2018ISAT0030

Chicago Manual of Style (16^th Edition):

Tognon, Marco. “Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles : Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications.” 2018. Doctoral Dissertation, Toulouse, INSA. Accessed February 27, 2021. http://www.theses.fr/2018ISAT0030.

MLA Handbook (7^th Edition):

Tognon, Marco. “Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles : Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications.” 2018. Web. 27 Feb 2021.

Vancouver:

Tognon M. Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles : Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications. [Internet] [Doctoral dissertation]. Toulouse, INSA; 2018. [cited 2021 Feb 27]. Available from: http://www.theses.fr/2018ISAT0030.

Council of Science Editors:

Tognon M. Theory and Applications for Control and Motion Planning of Aerial Robots in Physical Interaction with particular focus on Tethered Aerial Vehicles : Commande et Planification de Mouvement pour des Robots Aériens en Interaction Physique avec leur Environnement : Théorie et Applications. [Doctoral Dissertation]. Toulouse, INSA; 2018. Available from: http://www.theses.fr/2018ISAT0030

Université du Luxembourg

12. Dentler, Jan Eric. Real-time Model Predictive Control for Aerial Manipulation.

Degree: 2018, Université du Luxembourg

URL: http://orbilu.uni.lu/handle/10993/36965

► The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future… (more)

▼ The rapid development in the field of Unmanned Aerial Vehicles (UAVs) is driven by new applications in agriculture, logistics, inspection and smart manufacturing. The future keys in these domains are the abilities to autonomously interact with the environment and with other robotic systems. This thesis is providing control engineering solutions to contribute to these key capabilities. The first step of this thesis is to develop an understanding of the dynamic behavior of UAVs. For this purpose, dynamic and kinematic models are presented to describe a UAV's motion. This includes a kinematic model which is suitable for off-the-shelf UAVs and combines full 360° heading operation with a low computational complexity. The presented models are subsequently used to develop a nonlinear model predictive control NMPC strategy. In this context, the performance of several NMPC solvers and inequality constraint handling techniques is evaluated. The real-time capability and NMPC performance are validated with real AR.Drone 2.0 and DJI M100 quadrotors. This includes collision avoidance and advanced tracking scenarios. The design work-flow for the related control objectives and constraints is presented accordingly. As a next step, this UAV NMPC strategy is extended for a UAV with attached robotic arm. For this purpose, the forward kinematics of the robotic arm are developed and combined with the kinematic model of the UAV. The resulting NMPC strategy is validated in a grasping scenario with a real aerial manipulator. The final step of this thesis is the NMPC of cooperating UAVs. The computational complexity of such scenarios conflicts directly with the fast UAV dynamics. In addition, control objectives and system topologies can dynamically change. To address these challenges, this thesis presents the DENMPC software framework. DENMPC provides a computationally efficient central NMPC strategy that allows changing the control scenario at runtime. This is finally stated in the control of a real cooperative aerial manipulation scenario. Advisors/Committee Members: Voos, Holger [superviser], Hadji-Minaglou, Jean-Régis [president of the jury], Kannan, Somasundar [member of the jury], Antonelli, Gianluca [member of the jury], Kayacan, Erdal [member of the jury].

Subjects/Keywords: Nonlinear Model Predictive Control; Aerial Manipulation; Cooperative Control; Unmanned Aerial Vehicle; Distributed Systems; Task-based Control; Engineering, computing & technology :: Multidisciplinary, general & others [C99]; Ingénierie, informatique & technologie :: Multidisciplinaire, généralités & autres [C99]

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dentler, J. E. (2018). Real-time Model Predictive Control for Aerial Manipulation. (Doctoral Dissertation). Université du Luxembourg. Retrieved from http://orbilu.uni.lu/handle/10993/36965

Chicago Manual of Style (16^th Edition):

Dentler, Jan Eric. “Real-time Model Predictive Control for Aerial Manipulation.” 2018. Doctoral Dissertation, Université du Luxembourg. Accessed February 27, 2021. http://orbilu.uni.lu/handle/10993/36965.

MLA Handbook (7^th Edition):

Dentler, Jan Eric. “Real-time Model Predictive Control for Aerial Manipulation.” 2018. Web. 27 Feb 2021.

Vancouver:

Dentler JE. Real-time Model Predictive Control for Aerial Manipulation. [Internet] [Doctoral dissertation]. Université du Luxembourg; 2018. [cited 2021 Feb 27]. Available from: http://orbilu.uni.lu/handle/10993/36965.

Council of Science Editors:

Dentler JE. Real-time Model Predictive Control for Aerial Manipulation. [Doctoral Dissertation]. Université du Luxembourg; 2018. Available from: http://orbilu.uni.lu/handle/10993/36965

13. Zanella, Riccardo Riccardo. Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test.

Degree: Electrical Engineering (EES), 2016, KTH

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649

► This work considers an aerial robot system composed of an Unmanned Aerial Vehicle (UAV) and a rigid manipulator, to be employed in mobile manipulation… (more)

Subjects/Keywords: Mobile Manipulation; Aerial Robots; Quadrotor; Backstepping; Lyapunov-based Control.

…6 CONTENTS 8 Aerial Manipulation Control Design 8.1 Manipulator Control… …87 87 88 90 C Euler Angles Convention 93 Chapter 1 Introduction Aerial manipulation is… …on ground robots, aerial robots evidently extends the ability of the mobile manipulation to… …Different forms of manipulation with aerial vehicles are found in the literature. One approach to… …aerial manipulation is to install a gripper at the bottom of the UAV to grasp and hold an…

6 more images…

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Zanella, R. R. (2016). Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test. (Thesis). KTH. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Zanella, Riccardo Riccardo. “Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test.” 2016. Thesis, KTH. Accessed February 27, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Zanella, Riccardo Riccardo. “Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test.” 2016. Web. 27 Feb 2021.

Vancouver:

Zanella RR. Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test. [Internet] [Thesis]. KTH; 2016. [cited 2021 Feb 27]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Zanella RR. Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test. [Thesis]. KTH; 2016. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

York University

14. Arns, Moritz. Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator.

Degree: MASc - Master of Applied Science, Mechanical Engineering, 2019, York University

URL: http://hdl.handle.net/10315/36342

► In this work a novel dual-functioning rotorcraft undercarriage is developed. The design is a reconfigurable delta robot which allows for transformation between Adaptive Landing Gear… (more)

Subjects/Keywords: Aerospace engineering; drone delivery; adaptive landing gear; aerial manipulation; rotorcraft; search and rescue drone; delta robot; slope landing; 3DOF; robotic; landing gear; dual-functioning; uav; adaptive landing; quadcopter; reconfiguration; parallel robotics; parallel mechanism

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Arns, M. (2019). Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator. (Masters Thesis). York University. Retrieved from http://hdl.handle.net/10315/36342

Chicago Manual of Style (16^th Edition):

Arns, Moritz. “Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator.” 2019. Masters Thesis, York University. Accessed February 27, 2021. http://hdl.handle.net/10315/36342.

MLA Handbook (7^th Edition):

Arns, Moritz. “Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator.” 2019. Web. 27 Feb 2021.

Vancouver:

Arns M. Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator. [Internet] [Masters thesis]. York University; 2019. [cited 2021 Feb 27]. Available from: http://hdl.handle.net/10315/36342.

Council of Science Editors:

Arns M. Novel Reconfigurable Delta Robot Dual-Functioning as Adaptive Landing Gear and Manipulator. [Masters Thesis]. York University; 2019. Available from: http://hdl.handle.net/10315/36342

Open Access Theses and Dissertations