Journal articles: 'Aerial robot'

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Zou, Jie Tong, Guan Wei Huang, and Chieh Yueh Hsu. "The Design and Implementation of Hexa-Rotor Aerial Robot." Applied Mechanics and Materials 300-301 (February 2013): 357–61. http://dx.doi.org/10.4028/www.scientific.net/amm.300-301.357.

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Today, when the robot technology is booming, various sensors and intelligent functions that applied in robots can be transferred and applied to the unmanned aerial robot. It will make the unmanned aerial robot not an ordinary UAV any longer, but an intelligent robot that can fly. Conventional UAVs are not well suited for use in confined spaces, such as small passageways or indoor halls, e.t.c. The multi-rotor copters have the vertical take-off and landing (VTOL) ability for indoor flight. The most popular research topics for multi-rotor copters are Quad- copter and Hexa-copter. The objective of this research is to design and build a hexa-rotor aerial robot. We used AVR microcontroller as the flight control system, and use three-axis gyroscope and three-axis accelerometer for attitude sensing of the aerial robot; the flight altitude is estimated with barometric altimeter; the closed loop control of the aerial robot is carried out with PID control to meet the requirements, such as self-balancing, hovering and etc. Multi-sensors had been applied to the hexa-rotor aerial robot, and verified the feasibility with experiments. A universal test platform was designed to test the stability and balance of the Hexa-rotor aerial robot. An external force was applied on the aerial robot from pitch, roll and yaw direction, the aerial robot can return to self-balancing flight quickly. Finally, the hexa-rotor aerial robot can make a stable hovering during the outdoor test fly.

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Chen, Junjie, Shuai Li, Donghai Liu, and Xueping Li. "AiRobSim: Simulating a Multisensor Aerial Robot for Urban Search and Rescue Operation and Training." Sensors 20, no. 18 (September 13, 2020): 5223. http://dx.doi.org/10.3390/s20185223.

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Unmanned aerial vehicles (UAVs), equipped with a variety of sensors, are being used to provide actionable information to augment first responders’ situational awareness in disaster areas for urban search and rescue (SaR) operations. However, existing aerial robots are unable to sense the occluded spaces in collapsed structures, and voids buried in disaster rubble that may contain victims. In this study, we developed a framework, AiRobSim, to simulate an aerial robot to acquire both aboveground and underground information for post-disaster SaR. The integration of UAV, ground-penetrating radar (GPR), and other sensors, such as global navigation satellite system (GNSS), inertial measurement unit (IMU), and cameras, enables the aerial robot to provide a holistic view of the complex urban disaster areas. The robot-collected data can help locate critical spaces under the rubble to save trapped victims. The simulation framework can serve as a virtual training platform for novice users to control and operate the robot before actual deployment. Data streams provided by the platform, which include maneuver commands, robot states and environmental information, have potential to facilitate the understanding of the decision-making process in urban SaR and the training of future intelligent SaR robots.

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Muramatsu, Satoshi, Tetsuo Tomizawa, Shunsuke Kudoh, and Takashi Suehiro. "Mobile Robot Navigation Utilizing the WEB Based Aerial Images Without Prior Teaching Run." Journal of Robotics and Mechatronics 29, no. 4 (August 20, 2017): 697–705. http://dx.doi.org/10.20965/jrm.2017.p0697.

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In order to realize the work of goods conveyance etc. by robot, localization of robot position is fundamental technology component. Map matching methods is one of the localization technique. In map matching method, usually, to create the map data for localization, we have to operate the robot and measure the environment (teaching run). This operation requires a lot of time and work. In recent years, due to improved Internet services, aerial image data is easily obtained from Google Maps etc. Therefore, we utilize the aerial images as a map data to for mobile robots localization and navigation without teaching run. In this paper, we proposed the robot localization and navigation technique using aerial images. We verified the proposed technique by the localization and autonomous running experiment.

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Nishi, Kensuke, and Hirohisa Kojima. "1B13 Aerial Robot Performance by Link Motion." Proceedings of the Symposium on the Motion and Vibration Control 2010 (2010): _1B13–1_—_1B13–8_. http://dx.doi.org/10.1299/jsmemovic.2010._1b13-1_.

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Trujillo, Juan-Carlos, Rodrigo Munguia, and Antoni Grau. "Aerial Cooperative SLAM for Ground Mobile Robot Path Planning." Engineering Proceedings 6, no. 1 (May 20, 2021): 65. http://dx.doi.org/10.3390/i3s2021dresden-10164.

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The trajectory planning for ground mobile robots operating in unknown environments can be a difficult task. In many cases, the sensors used for detecting obstacles only provide information about the immediate surroundings, making it difficult to generate an efficient long-term path. For instance, a robot can easily choose to move along a free path that, eventually, will have a dead end. This research is intended to develop a cooperative scheme of visual-based aerial simultaneous localization and mapping (SLAM) that will be used for generating a safe long-term trajectory for a ground mobile robot. The general idea is to take advantage of the high-altitude point of view of aerial robots to obtain spatial information of a wide area of the surroundings of the robot. In this case, it could be seen as having a zenithal picture of the labyrinth to solve the robot’s path. More specifically, the system will generate a wide area spatial map of the ground robot’s obstacles from the images taken by a team of aerial robots equipped with onboard cameras, by means of a cooperative visual-based SLAM method. At the same time, the map will be used to generate a safe path for the ground mobile robot. While the ground robot moves, its onboard sensors will be used to refinine the map and, thus, to avoid obstacles that were not detected from the aerial images.

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Austin, Reg G. "The Sprite aerial robot." Industrial Robot: An International Journal 24, no. 2 (April 1997): 152–57. http://dx.doi.org/10.1108/01439919710165707.

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Chen, Yang, Shiwen Ren, Zhihuan Chen, Mengqing Chen, and Huaiyu Wu. "Path Planning for Vehicle-borne System Consisting of Multi Air–ground Robots." Robotica 38, no. 3 (June 17, 2019): 493–511. http://dx.doi.org/10.1017/s0263574719000808.

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SummaryThis paper considers the path planning problem for deployment and collection of a marsupial vehicle system which consists of a ground mobile robot and two aerial flying robots. The ground mobile robot, usually unmanned ground vehicle (UGV), as a carrier, is able to deploy and harvest the aerial flying robots, and each aerial flying robot, usually unmanned aerial vehicles (UAVs), takes off from and lands on the carrier. At the same time, owing to the limited duration in the air in one flight, UAVs should return to the ground mobile robot timely for its energy-saving and recharge. This work is motivated by cooperative search and reconnaissance missions in the field of heterogeneous robot system. Especially, some targets with given positions are assumed to be visited by any of the UAVs. For the cooperative path planning problem, this paper establishes a mathematical model to solve the path of two UAVs and UGV. Many real constraints including the maximum speed of two UAVs and UGV, the minimum charging time of two UAVs, the maximum hovering time of UAVs, and the dynamic constraints among UAVs and UGV are considered. The objective function is constructed by minimizing the time for completing the whole mission. Finally, the path planning problem of the robot system is transformed into a multi-constrained optimization problem, and then the particle swarm optimization algorithm is used to obtain the path planning results. Simulations and comparisons verify the feasibility and effectiveness of the proposed method.

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Roscia, Francesco, Andrea Cumerlotti, Andrea Del Prete, Claudio Semini, and Michele Focchi. "Orientation Control System: Enhancing Aerial Maneuvers for Quadruped Robots." Sensors 23, no. 3 (January 20, 2023): 1234. http://dx.doi.org/10.3390/s23031234.

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For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvented with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However, these movements represent a challenge, because, during the flight phase, the Center of Mass (CoM) cannot be controlled, and there is limited controllability over the orientation of the robot. This paper focuses on the latter issue and proposes an Orientation Control System (OCS), consisting of two rotating and actuated masses (flywheels or reaction wheels), to gain control authority on the orientation of the robot. Due to the conservation of angular momentum, the rotational velocity if the robot can be adjusted to steer the robot’s orientation, even when the robot has no contact with the ground. The axes of rotation of the flywheels are designed to be incident, leading to a compact orientation control system that is capable of controlling both roll and pitch angles, considering the different moments of inertia in the two directions. The concept was tested by means of simulations on the robot Solo12.

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Lentink, David. "Coevolving advances in animal flight and aerial robotics." Interface Focus 7, no. 1 (February 6, 2017): 20160119. http://dx.doi.org/10.1098/rsfs.2016.0119.

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Our understanding of animal flight has inspired the design of new aerial robots with more effective flight capacities through the process of biomimetics and bioinspiration. The aerodynamic origin of the elevated performance of flying animals remains, however, poorly understood. In this themed issue, animal flight research and aerial robot development coalesce to offer a broader perspective on the current advances and future directions in these coevolving fields of research. Together, four reviews summarize and 14 reports contribute to our understanding of low Reynolds number flight. This area of applied aerodynamics research is challenging to dissect due to the complicated flow phenomena that include laminar–turbulent flow transition, laminar separation bubbles, delayed stall and nonlinear vortex dynamics. Our mechanistic understanding of low Reynolds number flight has perhaps been advanced most by the development of dynamically scaled robot models and new specialized wind tunnel facilities: in particular, the tiltable Lund flight tunnel for animal migration research and the recently developed AFAR hypobaric wind tunnel for high-altitude animal flight studies. These world-class facilities are now complemented with a specialized low Reynolds number wind tunnel for studying the effect of turbulence on animal and robot flight in much greater detail than previously possible. This is particular timely, because the study of flight in extremely laminar versus turbulent flow opens a new frontier in our understanding of animal flight. Advancing this new area will offer inspiration for developing more efficient high-altitude aerial robots and removes roadblocks for aerial robots operating in turbulent urban environments.

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Michael, Nathan, Jonathan Fink, and Vijay Kumar. "Controlling Ensembles of Robots via a Supervisory Aerial Robot." Advanced Robotics 22, no. 12 (January 2008): 1361–77. http://dx.doi.org/10.1163/156855308x344873.

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Iwata, Kakuya, and Osamu Matsum. "Aerial Cargo Robot (Cargo UAV)." Journal of Robotics and Mechatronics 26, no. 3 (June 20, 2014): 394–95. http://dx.doi.org/10.20965/jrm.2014.p0394.

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<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260003/14.jpg"" width=""300"" /> Flight test of Cargo UAV</span></div> Safety is the most important factor in the civil use of aerial robots. Research on aerial cargo robots, also known as cargo unmanned aerial vehicles (UAV) started in 2004. The first ACR prototype flight was made on November 22, 2005. The ACR prototype consists of a flexible airfoil, twin microturbojet engines and a gravity center (GC) controller. The ACR meets the following four safety requirements: (i) touchability, i.e., without propellers or rotors, (ii) the low sink rate of a parachute, i.e., below 1.0 m/s, (iii) low stall speed, i.e., <30 km/h, (iv) a redundancy arrangement control. The most important safety specification of all is infallibility in ACR service applications. </span>

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Suzuki, Satoshi. "Navigation System for Aerial Robot." Journal of the Robotics Society of Japan 34, no. 1 (2016): 10–13. http://dx.doi.org/10.7210/jrsj.34.10.

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Martinez-Soltero, Gabriel, Alma Y. Alanis, Nancy Arana-Daniel, and Carlos Lopez-Franco. "Semantic Segmentation for Aerial Mapping." Mathematics 8, no. 9 (August 30, 2020): 1456. http://dx.doi.org/10.3390/math8091456.

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Mobile robots commonly have to traverse rough terrains. One way to find the easiest traversable path is by determining the types of terrains in the environment. The result of this process can be used by the path planning algorithms to find the best traversable path. In this work, we present an approach for terrain classification from aerial images while using a Convolutional Neural Networks at the pixel level. The segmented images can be used in robot mapping and navigation tasks. The performance of two different Convolutional Neural Networks is analyzed in order to choose the best architecture.

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Chen, Zhihua, Xinya Qiao, Pei Wu, Tiancai Zhang, Tao Hong, and Linquan Fang. "Unmanned Aerial Vehicle (UAV) Robot Microwave Imaging Based on Multi-Path Scattering Model." Sensors 22, no. 22 (November 11, 2022): 8736. http://dx.doi.org/10.3390/s22228736.

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Unmanned Aerial Vehicle (UAV) robot microwave imaging systems have attracted comprehensive attention. Compared with visible light and infrared imaging systems, microwave imaging is not susceptible to weather. Active microwave imaging systems have been realized in UAV robots. However, the scattering signals of geographical objects from satellite transmitting systems received by UAV robots to process imaging is studied rarely, which reduces the need of load weight for the UAV robot. In this paper, a multi-path scattering model of vegetation on the earth surface is proposed, and then the microwave imaging algorithm is introduced to reconstruct the images from the UAV robot receiving the scattering data based on the multi-path model. In image processing, it is assumed that the orbit altitude of a transmitter loaded on the satellite remains unchanged, and the receiver loaded UAV robot obtains the reflective information from ground vegetation with different zenith angles. The imaging results show that the angle change has an impact on the imaging resolution. The combination of electromagnetic scattering model and image processing method contributes to understanding the image results and the multi-path scattering mechanisms of vegetation, which provide a reference for the research and development of microwave imaging systems of UAV robot networking using satellite transmitting signals.

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Rodriguez-Ramos, Alejandro, Adrian Alvarez-Fernandez, Hriday Bavle, Javier Rodriguez-Vazquez, Liang Lu, Miguel Fernandez-Cortizas, Ramon Suarez Fernandez, et al. "Autonomous Aerial Robot for High-Speed Search and Intercept Applications." Field Robotics 2, no. 1 (March 10, 2022): 1320–50. http://dx.doi.org/10.55417/fr.2022044.

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In recent years, high-speed navigation and environment interaction in the context of aerial robotics has become a field of interest for several academic and industrial research studies. In particular, Search and Intercept (SaI) applications for aerial robots pose a compelling research area due to their potential usability in several environments. Nevertheless, SaI tasks involve a challenging development regarding sensory weight, onboard computation resources, actuation design, and algorithms for perception and control, among others. In this work, a fully autonomous aerial robot for high-speed object grasping has been proposed. As an additional subtask, our system is able to autonomously pierce balloons located in poles close to the surface. Our first contribution is the design of the aerial robot at an actuation and sensory level consisting of a novel gripper design with additional sensors enabling the robot to grasp objects at high speeds. The second contribution is a complete software framework consisting of perception, state estimation, motion planning, motion control, and mission control in order to rapidly and robustly perform the autonomous grasping mission. Our approach has been validated in a challenging international competition and has shown outstanding results, being able to autonomously search, follow, and grasp a moving object at 6 m/s in an outdoor environment.

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Kita, Koichi, Atsushi Konno, and Masaru Uchiyama. "Hovering Control of a Tail-Sitter VTOL Aerial Robot." Journal of Robotics and Mechatronics 21, no. 2 (April 20, 2009): 277–83. http://dx.doi.org/10.20965/jrm.2009.p0277.

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This paper describes system development and hovering control of a tail-sitter VTOL aerial robot. The tail-sitter VTOL aerial robot developed from model aircraft parts, sensors, microcomputers, and other components hovers autonomously thanks to attitude, altitude, and position control. Attitude control error averages 1-2°and altitude control error several centimeters. The aerial robot demonstrated both fixed-point hovering and trajectory tracking in hover mode.

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Sanchez-Cuevas, Pedro J., Antonio Gonzalez-Morgado, Nicolas Cortes, Diego B. Gayango, Antonio E. Jimenez-Cano, Aníbal Ollero, and Guillermo Heredia. "Fully-Actuated Aerial Manipulator for Infrastructure Contact Inspection: Design, Modeling, Localization, and Control." Sensors 20, no. 17 (August 20, 2020): 4708. http://dx.doi.org/10.3390/s20174708.

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This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contact with the bridge and tunnel surfaces and the installation of monitoring sensing devices at specific points. The design of the aerial robot presented in the paper includes a 3DoF lightweight arm with a sensorized passive joint which can measure the contact force to regulate the force applied with the sensor on the structure. The aerial platform has been designed with tilted propellers to be fully actuated, achieving independent attitude and position control. It also mounts a “docking gear” to establish full contact with the infrastructure during the inspection, minimizing the measurement errors derived from the motion of the aerial platform and allowing full contact with the surface regardless of its condition (smooth, rough, ...). The localization system of the aerial robot uses multi-sensor fusion of the measurements of a topographic laser sensor on the ground and a tracking camera and inertial sensors on-board the aerial robot, to be able to fly under the bridge deck or close to the bridge pillars where GNSS satellite signals are not available. The paper also presents the modeling and control of the aerial robot. Validation experiments of the localization system and the control system, and with the aerial robot inspecting a real bridge are also included.

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Zhang, Chi, Zhong Yang, Luwei Liao, Yulong You, Yaoyu Sui, and Tang Zhu. "RPEOD: A Real-Time Pose Estimation and Object Detection System for Aerial Robot Target Tracking." Machines 10, no. 3 (March 3, 2022): 181. http://dx.doi.org/10.3390/machines10030181.

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Pose estimation and environmental perception are the fundamental capabilities of autonomous robots. In this paper, a novel real-time pose estimation and object detection (RPEOD) strategy for aerial robot target tracking is presented. The aerial robot is equipped with a binocular fisheye camera for pose estimation and a depth camera to capture the spatial position of the tracked target. The RPEOD system uses a sparse optical flow algorithm to track image corner features, and the local bundle adjustment is restricted in a sliding window. Ulteriorly, we proposed YZNet, a lightweight neural inference structure, and took it as the backbone in YOLOV5 (the state-of-the-art real-time object detector). The RPEOD system can dramatically reduce the computational complexity in reprojection error minimization and the neural network inference process; Thus, it can calculate real-time on the onboard computer carried by the aerial robot. The RPEOD system is evaluated using both simulated and real-world experiments, demonstrating clear advantages over state-of-the-art approaches, and is significantly more fast.

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Zheng, Xiang Ming, and Xue Song Liu. "Structural Layout Design and Manufacture of a New Aerial Robot." Applied Mechanics and Materials 365-366 (August 2013): 795–99. http://dx.doi.org/10.4028/www.scientific.net/amm.365-366.795.

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This paper describes an unconventional structural layout design of aerial robot. A double-layered # shaped configuration is proposed to meet the requirements of decoupling control of eight-rotor aerial robot. Based on the modular design concept, structure design for manufacturing is combined with aerodynamic analysis to improve the level of integration of design and manufacturing. Results of manufacture and flight test show that our design on aerial robot is effective.

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Roderick, William R. T., Mark R. Cutkosky, and David Lentink. "Touchdown to take-off: at the interface of flight and surface locomotion." Interface Focus 7, no. 1 (February 6, 2017): 20160094. http://dx.doi.org/10.1098/rsfs.2016.0094.

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Small aerial robots are limited to short mission times because aerodynamic and energy conversion efficiency diminish with scale. One way to extend mission times is to perch, as biological flyers do. Beyond perching, small robot flyers benefit from manoeuvring on surfaces for a diverse set of tasks, including exploration, inspection and collection of samples. These opportunities have prompted an interest in bimodal aerial and surface locomotion on both engineered and natural surfaces. To accomplish such novel robot behaviours, recent efforts have included advancing our understanding of the aerodynamics of surface approach and take-off, the contact dynamics of perching and attachment and making surface locomotion more efficient and robust. While current aerial robots show promise, flying animals, including insects, bats and birds, far surpass them in versatility, reliability and robustness. The maximal size of both perching animals and robots is limited by scaling laws for both adhesion and claw-based surface attachment. Biomechanists can use the current variety of specialized robots as inspiration for probing unknown aspects of bimodal animal locomotion. Similarly, the pitch-up landing manoeuvres and surface attachment techniques of animals can offer an evolutionary design guide for developing robots that perch on more diverse and complex surfaces.

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Lin, Jinfan, Zeming Ren, and Xiaobin Hong. "A new type of vertical wall-climbing robot." Journal of Physics: Conference Series 2366, no. 1 (November 1, 2022): 012046. http://dx.doi.org/10.1088/1742-6596/2366/1/012046.

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Abstract Using robots to replace human beings to achieve large-scale automatic operations has become an inevitable trend. Wall-climbing robots have important application value in the field of aerial work. For the existing wall-climbing robots have limitation on movement flexibility and overcome own gravity by adsorption friction, this paper innovatively proposes a wall-climbing robot with suspension traction, back push adsorption and McNum wheel driving. Meanwhile, an electronic control system and control algorithm are designed. Experiments results show that the wall-climbing robot has advantages of high relative load, omnidirectional movement, strong continuity of movement and smooth operation.

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Arokiasami, Willson Amalraj, Prahlad Vadakkepat, Kay Chen Tan, and Dipti Srinivasan. "Real-Time Path-Generation and Path-Following Using an Interoperable Multi-Agent Framework." Unmanned Systems 06, no. 04 (October 2018): 231–50. http://dx.doi.org/10.1142/s2301385018500061.

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Autonomous unmanned vehicles are preferable in patrolling, surveillance and, search and rescue missions. Multi-agent architectures are commonly used for autonomous control of unmanned vehicles. Existing multi-robot architectures for unmanned aerial and ground robots are generally mission and platform oriented. Collision avoidance, path-planning and tracking are some of the fundamental requirements for autonomous operation of unmanned robots. Though aerial and ground vehicles operate differently, the algorithms for obstacle avoidance, path-planning and path-tracking can be generalized. Service Oriented Interoperable Framework for Robot Autonomy (SOIFRA) proposed in this work is an interoperable multi-agent framework focused on generalizing platform independent algorithms for unmanned aerial and ground vehicles. SOIFRA is behavior-based, modular and interoperable across unmanned aerial and ground vehicles. SOIFRA provides collision avoidance, and, path-planning and tracking behaviors for unmanned aerial and ground vehicles. Vector Directed Path-Generation and Tracking (VDPGT), a vector-based algorithm for real-time path-generation and tracking, is proposed in this work. VDPGT dynamically adopts the shortest path to the destination while minimizing the tracking error. Collision avoidance is performed utilizing Hough transform, Canny contour, Lucas–Kanade sparse optical flow algorithm and expansion of object-based time-to-contact estimation. Simulation and experimental results from Turtlebot and AR Drone show that VDPGT can dynamically generate and track paths, and SOIFRA is interoperable across multiple robotic platforms.

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Haluška, Jakub, Anton Koval, and George Nikolakopoulos. "On the Unification of Legged and Aerial Robots for Planetary Exploration Missions." Applied Sciences 12, no. 8 (April 14, 2022): 3983. http://dx.doi.org/10.3390/app12083983.

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In this article, we address the task of developing a unified solution that incorporates quadruped and aerial robots for planetary exploration missions. The designing process takes recommendations provided by Boston Dynamics for building custom payloads for the Spot robot, as well as its kinematic constraints. The unification task itself encompasses design of a passive drone landing platform as a hardware link between the Spot robot and the drone, which has active locking and unlocking capabilities required to securely keep the drone on the Spot independently whether it is standing or moving. Thus, in the designed unification solution, the landing platform does not impact the overall robot mobility and has no interference with the robot’s legs. The initial solution design was extensively evaluated in a series of tests at the laboratory, which demonstrated its viability.

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Wei-hong, Xu, Cao Li-jia, and Zhong Chun-lai. "Review of Aerial Manipulator and its Control." International Journal of Robotics and Control Systems 1, no. 3 (September 3, 2021): 308–25. http://dx.doi.org/10.31763/ijrcs.v1i3.363.

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The aerial manipulator is a new type of aerial robot with active operation capability, which is composed of a rotary-wing drone and an actuator. Although aerial manipulation has greatly increased the scope of robot operations, the research on aerial manipulators also faces many difficulties, such as the selection of aerial platforms and actuators, system modeling and control, etc. This article attempts to collect the research team’s Achievements in the field of aerial robotic arms. The main results of the aerial manipulator system and corresponding dynamic modeling and control are reviewed, and its problems are summarized and prospected.

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Yali, Yu, SunFeng, and Wang Yuanxi. "Controller Design of Quadrotor Aerial Robot." Physics Procedia 33 (2012): 1254–60. http://dx.doi.org/10.1016/j.phpro.2012.05.207.

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Zheng, Xiang Ming. "Multi-Sensor Technique-Based Integrated Navigation and Flight Control on Aerial Robot." Applied Mechanics and Materials 511-512 (February 2014): 842–47. http://dx.doi.org/10.4028/www.scientific.net/amm.511-512.842.

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This paper describes an unconventional overall design of eight-rotor aerial robot. An INS/GPS based Kalman Filter solution is introduced in attitude estimate to meet the high precision and reliability requirement. In order to coordinate the contradiction between high load and high frequency, we present a new control method for multi-rotor aerial robot, witch take decoupling control on lift rotors and attitude control rotors. Results of simulation and flight test show that our design on aerial robot is effective.

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MIYAMOTO, Naoyuki, Takateru URAKUBO, and Takanori FUKAO. "2A1-H11 Attitude Stabilization of Tiltrotor Aerial Robot in Hover Flight(Aerial Robot and Mechatronics(1))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _2A1—H11_1—_2A1—H11_2. http://dx.doi.org/10.1299/jsmermd.2012._2a1-h11_1.

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KINOSHITA, Keisuke, Yusuke OUCHI, Keigo WATANABE, and Isaku NAGAI. "2A2-F04 Stabilization of a Four-Rotor Aerial Robot in Hovering(Aerial Robot and Mechatronics (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _2A2—F04_1—_2A2—F04_4. http://dx.doi.org/10.1299/jsmermd.2014._2a2-f04_1.

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ISHIHARA, Hiroki, Yuichi OSADA, and Hideyuki TSUKAGOSHI. "2A2-G07 Aerial-Aquatic Flapping Robot : 3rd report: Double-Hinged Wing for Aerial-Aquatic Mobile Robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _2A2—G07_1—_2A2—G07_4. http://dx.doi.org/10.1299/jsmermd.2015._2a2-g07_1.

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Capitan, Jesus, Matthijs Spaan, Luis Merino, and Anibal Ollero. "Decentralized Multi-Robot Cooperation with Auctioned POMDPs." Proceedings of the International Conference on Automated Planning and Scheduling 24 (May 11, 2014): 515–18. http://dx.doi.org/10.1609/icaps.v24i1.13658.

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Planning under uncertainty faces a scalability problem when considering multi-robot teams, as the information space scales exponentially with the number of robots. To address this issue, this paper proposes to decentralize multi-robot Partially Observable Markov Decision Processes (POMDPs) while maintaining cooperation between robots by using POMDP policy auctions. Auctions provide a flexible way of coordinating individual policies modeled by POMDPs and have low communication requirements. Additionally, communication models in the multi-agent POMDP literature severely mismatch with real inter-robot communication. We address this issue by exploiting a decentralized data fusion method in order to efficiently maintain a joint belief state among the robots. The paper presents results in two different applications: environmental monitoring with Unmanned Aerial Vehicles (UAVs); and cooperative tracking, in which several robots have to jointly track a moving target of interest.

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Tranzatto, Marco, Frank Mascarich, Lukas Bernreiter, Carolina Godinho, Marco Camurri, Shehryar Khattak, Tung Dang, et al. "CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge." Field Robotics 2, no. 1 (March 10, 2022): 274–324. http://dx.doi.org/10.55417/fr.2022011.

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Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, we present the CERBERUS system-of-systems, as a unified strategy for subterranean exploration using legged and flying robots. Our proposed approach relies on ANYmal quadraped as primary robots, exploiting their endurance and ability to traverse challenging terrain. For aerial robots, we use both conventional and collision-tolerant multirotors to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, we developed a complementary multimodal sensor-fusion approach, utilizing camera, LiDAR, and inertial data for resilient robot pose estimation. Individual robot pose estimates are refined by a centralized multi-robot map-optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path-planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication among team agents and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station and wireless “breadcrumb” nodes deployed by the legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge’s Tunnel and Urban Circuit events, along with the current limitations and the lessons learned for the benefit of the community.

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Xu, Changliang, Zhong Yang, Zhao Zhang, Hao Xu, Jiying Wu, Dongsheng Zhou, Luwei Liao, and Qiuyan Zhang. "Design and Control of a Deformable Trees-Pruning Aerial Robot." Complexity 2020 (December 28, 2020): 1–19. http://dx.doi.org/10.1155/2020/6627339.

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Tree branches near the electric power transmission lines are of great threat to the electricity supply. Nowadays, the tasks of clearing threatening tree branches are still mostly operated by hand and simple tools. Traditional structures of the multirotor aerial robot have the problem of fixed structure and limited performance, which affects the stability and efficiency of pruning operation. In this article, in order to obtain better environmental adaptability, an active deformable trees-pruning aerial robot is presented. The deformation of the aerial robot is implemented through two ways, arm telescopic and folding. In order to suppress the influence of internal and external disturbances on the system, Active Disturbance Rejection Control (ADRC) technology is adopted to build the flight controller. Firstly, active deformation aerial robot structure is given, followed by system dynamic model establishment under wind disturbance using the Newton–Euler method. Also, the analysis of the gusts influence on the system is considered. Then, the active deformation aerial robot system is decoupled into a combination of six SISO systems, so that a disturbance rejection controller is designed. Finally, the expanded state observer and the nonlinear state error feedback law are used to inspect and compensate the disturbance. Simulation results of attitude and position tracking as well as the antidisturbance capability show that the active deformation aerial robot with the ADRC flight controller designed in this paper has excellent attitude control capabilities during flight and trees-pruning operation.

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Nasir, Ahmad Kamal, Amin Hsino, Hubert Roth, and Klaus Hartmann. "Aerial Robot Localization Using Ground Robot Tracking – Towards Cooperative SLAM." IFAC Proceedings Volumes 46, no. 19 (2013): 313–18. http://dx.doi.org/10.3182/20130902-5-de-2040.00116.

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Bogdan, Stjepan, Mirko Kovac, and Jose Ramiro Martinez de Dios. "Twinning coordination action for spreading excellence in Aerial Robotics." Project Repository Journal 12, no. 1 (January 31, 2022): 26–29. http://dx.doi.org/10.54050/prj1218211.

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Twinning coordination action for spreading excellence in Aerial Robotics AeRoTwin is a twinning coordination action for spreading excellence in aerial robotics. The project’s overall goal is to decrease networking gaps and deficiencies between UNIZG-FER and internationally-leading counterparts in the EU by significantly enhancing the S and T capacity of the Laboratory for Robotics and Intelligent Control Systems (LARICS) at UNIZG-FER. The strategic research domains are cooperative robotic missions, aerial robot navigation and aerial robot configurability.

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Perez-Grau, Francisco J., Fernando Caballero, Antidio Viguria, and Anibal Ollero. "Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation." International Journal of Advanced Robotic Systems 14, no. 5 (September 1, 2017): 172988141773275. http://dx.doi.org/10.1177/1729881417732757.

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This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in indoor environments, which is suitable for aerial robots moving in a three-dimentional environment and makes use of a combination of measurements from an Red,Green,Blue-Depth (RGB-D) sensor, distances to several radio-tags placed in the environment, and an inertial measurement unit. The approach is demonstrated with an unmanned aerial vehicle flying for 10 min indoors and validated with a very precise motion tracking system. The approach has been implemented using the robot operating system framework and works smoothly on a regular i7 computer, leaving plenty of computational capacity for other navigation tasks such as motion planning or control.

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IWATA, Kakuya, and Osamu MATSUMOTO. "1A2-O03 Research of turbojet engine for aerial robots (1st Report) : High reliability and safety engine for aerial robots(Aerial Robot and Mechatronics)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011 (2011): _1A2—O03_1—_1A2—O03_2. http://dx.doi.org/10.1299/jsmermd.2011._1a2-o03_1.

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Ding, Li, and Hongtao Wu. "Dynamical Modelling and Robust Control for an Unmanned Aerial Robot Using Hexarotor with 2-DOF Manipulator." International Journal of Aerospace Engineering 2019 (October 21, 2019): 1–12. http://dx.doi.org/10.1155/2019/5483073.

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The robust control issues in trajectory tracking of an unmanned aerial robot (UAR) are challenging tasks due to strong parametric uncertainties, large nonlinearities, and high couplings in robot dynamics. This paper investigates the dynamical modelling and robust control of an aerial robot using a hexarotor with a 2-degrees-of-freedom (DOF) manipulator in a complex aerial environment. Firstly, the kinematic model and dynamic model of the aerial robot are developed by the Euler-Lagrange method. Afterwards, a linear active disturbance rejection control is designed for the robot to achieve a high-accuracy trajectory tracking goal under heavy lumped disturbances. In this control scheme, the modelling uncertainties and external disturbances are estimated by a linear extended state observer, and the high tracking precision is guaranteed by a proportion-differentiation (PD) feedback control law. Meanwhile, an artificial intelligence algorithm is applied to adjust the control parameters and ensure that the state variables of the robot converge to the references smoothly. Furthermore, it requires no detailed knowledge of the bounds on unknown dynamical parameters. Lastly, numerical simulations and experiments validate the efficiency and advantages of the proposed method.

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Gao, Qing Ji, Meng Li, Dan Dan Hu, and Wei Hao. "Design of Emotion Expressing Behavior Based on LMA for Aerial Robot." Applied Mechanics and Materials 494-495 (February 2014): 1170–74. http://dx.doi.org/10.4028/www.scientific.net/amm.494-495.1170.

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The non-humanoid robots can express emotion by imitating the humans body language with different paths. The movement parameters effecting the Laban Effort Factors can be got by parameterizing the trajectory with using Laban Movement Analysis (LMA) Theory. Then, the emotion expressing model based on the trajectory of aerial robot is established by mapping the Effort Factors to the PAD emotion space. The simulation demonstrates the validity of the model.

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KONO, Tatsuya, Takashi TAKIMOTO, and Shigeru KUCHII. "2A2-L06 Development of the For Rotor Robot System for Aerial Photography(Aerial Robot and Mechatronics(2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012 (2012): _2A2—L06_1—_2A2—L06_2. http://dx.doi.org/10.1299/jsmermd.2012._2a2-l06_1.

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Paul, Hannibal, Ricardo Rosales Martinez, Robert Ladig, and Kazuhiro Shimonomura. "Lightweight Multipurpose Three-Arm Aerial Manipulator Systems for UAV Adaptive Leveling after Landing and Overhead Docking." Drones 6, no. 12 (November 27, 2022): 380. http://dx.doi.org/10.3390/drones6120380.

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In aerial manipulation, the position and size of a manipulator attached to an aerial robot defines its workspace relative to the robot. However, the working region of a multipurpose robot is determined by its task and is not always predictable prior to deployment. In this paper, the development of a multipurpose manipulator design for a three-armed UAV with a large workspace around its airframe is proposed. The manipulator is designed to be lightweight and slim in order to not disrupt the UAV during in-flight manipulator movements. In the experiments, we demonstrate various advanced and critical tasks required of an aerial robot when deployed in a remote environment, focusing on the landing and docking tasks, which is accomplished using a single manipulator system.

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Bloss, Richard. "Advanced swarm robots addressing innovative tasks such as assembly, search, rescue, mapping, communication, aerial and other original applications." Industrial Robot: An International Journal 41, no. 5 (August 12, 2014): 408–12. http://dx.doi.org/10.1108/ir-05-2014-0337.

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Purpose – The purpose of this paper is to review some of the various worldwide projects to develop and apply innovative swarm-type robots to many challenging applications. Design/methodology/approach – An in-depth review of published information and interviews with researchers and developers of swarm robot technology were conducted. Findings – Swarm robots continue to be developed to match an ever-increasing number of interesting and innovative applications. Practical implications – Readers may be very surprised at the tasks that autonomous swarm robots can address and the developments that are underway to further extend the abilities of swarm robots. Originality/value – This paper is a review of a wide range of the latest swarm robot developments, innovations and applications.

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Sumetheeprasit, Borwonpob, Ricardo Rosales Martinez, Hannibal Paul, Robert Ladig, and Kazuhiro Shimonomura. "Variable Baseline and Flexible Configuration Stereo Vision Using Two Aerial Robots." Sensors 23, no. 3 (January 18, 2023): 1134. http://dx.doi.org/10.3390/s23031134.

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In this work, a new method for aerial robot remote sensing using stereo vision is proposed. A variable baseline and flexible configuration stereo setup is achieved by separating the left camera and right camera on two separate quadrotor aerial robots. Monocular cameras, one on each aerial robot, are used as a stereo pair, allowing independent adjustment of the pose of the stereo pair. In contrast to conventional stereo vision where two cameras are fixed, having a flexible configuration system allows a large degree of independence in changing the configuration in accordance with various kinds of applications. Larger baselines can be used for stereo vision of farther away targets while using a vertical stereo configuration in tasks where there would be a loss of horizontal overlap caused by a lack of suitable horizontal configuration. Additionally, a method for the practical use of variable baseline stereo vision is introduced, combining multiple point clouds from multiple stereo baselines. Issues from using an inappropriate baseline, such as estimation error induced by insufficient baseline, and occlusions from using too large a baseline can be avoided with this solution.

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Karásek, Matěj, Florian T. Muijres, Christophe De Wagter, Bart D. W. Remes, and Guido C. H. E. de Croon. "A tailless aerial robotic flapper reveals that flies use torque coupling in rapid banked turns." Science 361, no. 6407 (September 13, 2018): 1089–94. http://dx.doi.org/10.1126/science.aat0350.

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Insects are among the most agile natural flyers. Hypotheses on their flight control cannot always be validated by experiments with animals or tethered robots. To this end, we developed a programmable and agile autonomous free-flying robot controlled through bio-inspired motion changes of its flapping wings. Despite being 55 times the size of a fruit fly, the robot can accurately mimic the rapid escape maneuvers of flies, including a correcting yaw rotation toward the escape heading. Because the robot’s yaw control was turned off, we showed that these yaw rotations result from passive, translation-induced aerodynamic coupling between the yaw torque and the roll and pitch torques produced throughout the maneuver. The robot enables new methods for studying animal flight, and its flight characteristics allow for real-world flight missions.

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Wang, He, Jiadong Shi, Jianzhong Wang, Hongfeng Wang, Yiming Feng, and Yu You. "Design and Modeling of a Novel Transformable Land/Air Robot." International Journal of Aerospace Engineering 2019 (February 4, 2019): 1–10. http://dx.doi.org/10.1155/2019/2064131.

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This paper describes a novel transformable land/air robot that is capable of terrestrial locomotion and aerial locomotion. What is unusual about the robot is that it can transform between the two modes of locomotion at will through the transformable mechanism, allowing the robot to overcome large obstacles in their mission environment. The wheel mechanism of the robot is shared by both terrestrial and aerial locomotion, instead of simply adding a quadrotor to a wheeled mobile robot. The objective of this paper is to design the robot and establish the kinematic and dynamic models for the transformable process. Herein, we focus on the design of the driving wheels and transformable mechanism. A series of experiments about the energy analysis and the transformation from aerial locomotion mode to terrestrial locomotion mode were performed with the physical prototype; the experiment results confirmed the validity of our design and the theoretical analysis that are helpful to optimize the key parameters in our design. Moreover, our work can provide a reference for the study of the flying car.

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Suarez, Alejandro, Pedro Grau, Guillermo Heredia, and Anibal Ollero. "Winged Aerial Manipulation Robot with Dual Arm and Tail." Applied Sciences 10, no. 14 (July 12, 2020): 4783. http://dx.doi.org/10.3390/app10144783.

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This paper presents the design and development of a winged aerial robot with bimanual manipulation capabilities, motivated by the current limitations of aerial manipulators based on multirotor platforms in terms of safety and range/endurance. Since the combination of gliding and flapping wings is more energy efficient in forward flight, we propose a new morphology that exploits this feature and allows the realization of dexterous manipulation tasks once the aerial robot has landed or perched. The paper describes the design, development, and aerodynamic analysis of this winged aerial manipulation robot (WAMR), consisting of a small-scale dual arm used for manipulating and as a morphing wing. The arms, fuselage, and tail are covered by a nylon cloth that acts as a cap, similar to a kite. The three joints of the arms (shoulder yaw and pitch, elbow pitch) can be used to control the surface area and orientation and thus the aerodynamic wrenches induced over the cloth. The proposed concept design is extended to a flapping-wing aerial robot built with smart servo actuators and a similar frame structure, allowing the generation of different flapping patterns exploiting the embedded servo controller. Experimental and simulation results carried out with these two prototypes evaluate the manipulation capability and the possibility of gliding and flying.

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SONG, Yuze, Daisuke IWAKURA, Wei WANG, and Kenzo NONAMI. "1A2-F05 Design and Autonomous Control of 12-Rotor Type Flying Robot(Aerial Robot and Mechatronics (2))." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2013 (2013): _1A2—F05_1—_1A2—F05_4. http://dx.doi.org/10.1299/jsmermd.2013._1a2-f05_1.

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IWATA, Kakuya, Hiroki Igarashi, and Akiya Kamimura. "Research of performance evaluation for aerial robot." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2021 (2021): 1P3—B07. http://dx.doi.org/10.1299/jsmermd.2021.1p3-b07.

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Iwata, Kakuya, Koji Matsubara, Kazumasa Kawasaki, and Osamu Matsumoto. "Turbojet Engine for Aerial Cargo Robot (ACR)." Journal of Robotics and Mechatronics 24, no. 6 (December 20, 2012): 1040–45. http://dx.doi.org/10.20965/jrm.2012.p1040.

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Turbine engines have been used as high reliable, safe engines in airline transportation. Safety is the most important factor in the social use of aerial robots. We started research on Aerial Cargo Robots (ACR) in 2004. The first flight of an ACR prototype was successfully achieved on November 22, 2005. The ACR prototype consists of a flexible airfoil, twin micro-turbo-jet engines and a gravity center control unit. The ACR meets the following requirements for safety: touchable, i.e., without propellers or rotors; a low sink rate the same as a parachute, i.e., below 1.0 m/sec; a low stall speed, i.e., less than 30 km/h; and a redundancy arrangement control system. The most important safety specification is the use of a silent turbojet engine for the ACR thruster. This paper reports the results of turbojet engine development for aerial robots.

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Mulgaonkar, Yash, Anurag Makineni, Luis Guerrero-Bonilla, and Vijay Kumar. "Robust Aerial Robot Swarms Without Collision Avoidance." IEEE Robotics and Automation Letters 3, no. 1 (January 2018): 596–603. http://dx.doi.org/10.1109/lra.2017.2775699.

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MORIKAWA, Yasushi, and Kyoshi KOMORIYA. "Aerial Robot for Reconnaissance(Disaster Response Robotics)." Journal of the Society of Mechanical Engineers 106, no. 1019 (2003): 774–77. http://dx.doi.org/10.1299/jsmemag.106.1019_774.

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Journal articles on the topic 'Aerial robot'

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