Download or read book Establishing Autonomous AUS quadrotor written by Younes Al-Younes and published by . This book was released on 2009 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Vertical takeoff and landing Unmanned Aerial Vehicles (VTOL-UAVs) are superior to their counterparts fixed wing UAVs for urban applications. The objective of this thesis is to establish a VTOL UAV platform to complement the ongoing research activities in the area of Autonomous cooperative mutli-agent system at AUS. The chosen platform for this research is a commercial remotely controlled quadrotor."--Abstract.

Download or read book Developing an Autonomous Quadrotor Tail sitter VTOL UAV Platform written by Ximin Lyu and published by . This book was released on 2019 with total page 97 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Advances in Autonomous Robotics Systems written by Michael Mistry and published by Springer. This book was released on 2014-08-23 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 15th Conference on Advances in Autonomous Robotics, TAROS 2014, held in Birmingham, UK, in September 2014. The 23 revised full papers presented together with 9 extended abstracts were carefully reviewed and selected from 48 submissions. The overall program covers various aspects of robotics, including navigation, planning, sensing and perception, flying and swarm robots, ethics, humanoid robotics, human-robot interaction, and social robotics.

Download or read book Trajectory Generation and Controller Design for a Quadrotor slung Load System written by Sean Fielding and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned aerial vehicles (UAVs), in particular quadrotors, have received increased interest recently for a variety of applications including aerial photography and payload transportation. Unlike fixed wing aircraft, quadrotors are well suited to flying in crowded urban environments due to their ability to hover as well as takeoff and land vertically. These drones are inherently difficult to fly though and typically require skilled pilots or assistive controllers. This presents significant barriers for companies looking to use quadrotors for novel applications. In response to this limitation, there has been a significant focus on developing flight controllers and flight trajectory generators to enable autonomous operation of quadrotor drones.While aerial photography applications are already well established for quadrotors, autonomous payload delivery presents an ongoing challenge. Currently, parcel delivery with quadrotors typically requires mounting a rigid container to the underside of the vehicle and filling this container with items. This configuration limits the size and shape of objects that can be transported, adds weight to the vehicle and adversely affects its attitude dynamics. A compelling alternative, inspired from military helicopters, is to suspend the payload from the underside of the quadrotor via one or more cables. Doing so saves weight and significantly reduces the impact that the payload has on the vehicle's attitude dynamics. The resulting quadrotor-slung load system also offers versatility in terms of the size and shape of payload that can be transportedThe deployment of autonomous quadrotor-slung load systems presents numerous challenges though. A slung load will inherently tend to swing underneath the drone when acted upon by external disturbances like wind gusts. This can lead to instability in the system and potentially cause the drone to crash. It is thus critical to develop robust flight controllers for quadrotor-slung load systems that can autonomously track prescribed delivery routes while suppressing the swinging motion of the payload. Significant swinging motion can also be induced in the slung load as a result of the flight trajectory of the quadrotor drone. We should thus specifically design flight trajectories that help to prevent swinging motion from being induced.At its core, this thesis seeks to develop techniques to both prevent and actively suppress swinging motion for an autonomous slung load system. In the following chapters we begin by exploring how quadrotor flight trajectories affect the swinging motion of a slung payload. In particular we focus on the technique of input shaping desired flight trajectories to help prevent induced payload swinging. We demonstrate how this concept can be extended to non-rest to rest flight trajectories and develop a computationally simple algorithm for generating these flight trajectories onboard a quadrotor as it flies. We next develop a flight controller to enable an autonomous quadrotor-slung load system to track these prescribed input-shaped flight trajectories. We explore existing designs for such controllers and develop a novel approach that distinguishes between swinging motion caused by tracking a prescribed flight trajectory and that caused by external disturbances. We demonstrate in simulation how this proposed controller is able to manage swinging disturbances while tracking an input-shaped flight trajectory better than two baseline controller designs. We later demonstrate how the underlying concepts behind this controller can be used to develop a model predictive controller for tracking input-shaped trajectories with a quadrotor-slung load system. We also discuss the implementation of the proposed trajectory generator and controller onto an actual quadrotor drone and some of the challenges faced during this process. We conclude by making recommendations for future work for this project"--

Download or read book Advances in Autonomous Mini Robots written by Ulrich Rückert and published by Springer Science & Business Media. This book was released on 2012-03-07 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous robots must carry out useful tasks all by themselves relying entirely on their own perceptions of their environment. The cognitive abilities required for autonomous action are largely independent of robot size, which makes mini robots attractive as artefacts for research, education and entertainment. Autonomous mini robots must be small enough for experimentation on a desktop or a small laboratory. They must be easy to carry and safe for interaction with humans. They must not be expensive. Mini robot designers have to work at the leading edge of technology so that their creations can carry out purposeful autonomic action under these constraints. Since 2001 researchers have met every two years for an international symposium to report on the advances achieved in Autonomous Mini Robots for Research and Edutainment (AMiRE). The AMiRE Symposium is a single track conference that offers ample opportunities for discussion and exchange of ideas. This volume contains the contributed papers of the 2011 AMiRE Symposium held from 23 to 25 May 2011 at Bielefeld University, Germany. The contributions in this volume represent the state-of-the-art of autonomous mini robots; they demonstrate what is currently technically feasible and show some of the applications for autonomous mini robots.

Download or read book Copia Schreibens an einen Ministrum eines F rstlichen Hoffs Sub dato Stra burg den 26 Januarij 1722 Des Chur und F rstl Hau es der Pfaltz Succession berhaupt Insonderheit aber Die K nfftige Erb Folge im F rstenthum Zweybr cken betreffend written by and published by . This book was released on 1722 with total page 100 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Autonomous Control of A Quadrotor UAV Using Fuzzy Logic written by Vijaykumar Sureshkumar FNU and published by . This book was released on 2015 with total page 127 pages. Available in PDF, EPUB and Kindle. Book excerpt: UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a simulation environment is built in the MATLAB/Simulink framework. The Fuzzy flight controller development is discussed intensively. Validation of the math model developed is presented using actual flight data. Excellent attitude tracking is demonstrated for near hover flight regimes. The responses are analyzed and future work involving implementation is discussed.

Download or read book Agile Autonomy Learning High Speed Vision Based Flight written by Antonio Loquercio and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the astonishing potential of deep sensorimotor policies for agile vision-based quadrotor flight. Quadrotors are among the most agile and dynamic machines ever created. However, developing fully autonomous quadrotors that can approach or even outperform the agility of birds or human drone pilots with only onboard sensing and computing is challenging and still unsolved. Deep sensorimotor policies, generally trained in simulation, enable autonomous quadrotors to fly faster and more agile than what was possible before. While humans and birds still have the advantage over drones, the author shows the current research gaps and discusses possible future solutions.

Download or read book Autonomous Quadrotor Control Using Convolutional Neural Networks written by Amer Mahdy Hamadi and published by . This book was released on 2019 with total page 58 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Quadrotors are considered nowadays one of the fastest growing technologies. It is entering all fields of life making them a powerful tool to serve humanity and help in developing a better life style. It is crucial to experiment all possible ways of controlling quadrotors, starting from classical methodologies to cutting edge modern technologies to serve their purpose. In most of the times quadrotors would have combination of several technologies on board. The attitude angles and altitude control used in this thesis are based mainly on PID control which is modeled and simulated on MATLAB and Simulink. To control the quadrotor behavior for two different tasks, Obstacle Avoidance and Command by Hand Gesture, the use of Convolutional Neural Networks (CNN) was proposed, since this new technology had shown very impressive results in image recognition in recent years. A considerable amount of training images (datasets) were created for the two tasks. Training and testing of the CNN were performed for these datasets, and real time flight experiments were performed, using a ground station, a Arduino microcontroller and interface circuit connected to the quadrotor. Results of the experiments show an excellent error rates for both tasks. The system performance reflects a major advantage of scalability for classification for new classes and other complex tasks, towards an autonomous flying and more intelligent behavior of quadrotors."--Abstract.

Download or read book Design of a Fully Autonomous Unmanned Quadrotor Aerial System written by Hong Chul Yang and published by . This book was released on 2010 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Vision Based Autonomous Control Schemes for Quadrotor Unmanned Aerial Vehicle written by Laxmidhar Behera and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: This chapter deals with the development of vision-based sliding mode control strategies for a quadrotor system that would enable it to perform autonomous tasks such as take-off, landing and visual inspection of structures. The aim of this work is to provide a basic understanding of the quadrotor dynamical model, key concepts in image processing and a detailed description of the sliding mode control, a widely used robust non-linear control scheme. Extensive MATLAB simulations are presented to enhance the understanding of the controller on the quadrotor system subjected to bounded disturbances and uncertainties. The vision algorithms developed in this chapter would provide the necessary reference trajectory to the controller enabling it to exercise control over the system. This work also describes, in brief, the implementation of the developed control and vision algorithms on the DJI Matrice 100 to present real-time experimental data to the readers of this chapter.

Download or read book Autonomous Landing Control of Unmanned Quadrotor Rotocrafts on to Moving Objects written by Michael E. Baier and published by . This book was released on 2011 with total page 138 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Autonomous Aerial Manipulation Using a Quadrotor written by Vaibhav Ghadiok and published by . This book was released on 2011 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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 vehicles (MAV) from passive observation and sensing to dynamic interaction with the environment. To achieve this, three major challenges are overcome: precise positioning, sensing and manipulation of the object, and stabilization in the presence of disturbance due to interaction with the object. Navigation in both indoor and outdoor unstructured, Global Positioning System-denied (GPS-denied) environments is achieved using a visual Simultaneous Localization and Mapping (SLAM) algorithm that relies on an onboard monocular camera. A secondary camera, capable of detecting infrared light sources, is used to estimate the 3D location of the object, while an underactuated and passively compliant manipulator is designed for effective gripping under uncertainty. The system utilizes nested Proportional-Integral-Derivative (PID) controllers for attitude stabilization, vision-based navigation, and gripping. The quadrotor is therefore able to autonomously navigate, locate, and grasp an object, using only onboard sensors.

Download or read book Proceedings of the Future Technologies Conference FTC 2020 Volume 2 written by Kohei Arai and published by Springer Nature. This book was released on 2020-10-31 with total page 1015 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides the state-of-the-art intelligent methods and techniques for solving real-world problems along with a vision of the future research. The fifth 2020 Future Technologies Conference was organized virtually and received a total of 590 submissions from academic pioneering researchers, scientists, industrial engineers, and students from all over the world. The submitted papers covered a wide range of important topics including but not limited to computing, electronics, artificial intelligence, robotics, security and communications and their applications to the real world. After a double-blind peer review process, 210 submissions (including 6 poster papers) have been selected to be included in these proceedings. One of the meaningful and valuable dimensions of this conference is the way it brings together a large group of technology geniuses in one venue to not only present breakthrough research in future technologies, but also to promote discussions and debate of relevant issues, challenges, opportunities and research findings. The authors hope that readers find the book interesting, exciting and inspiring.

Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.

Download or read book Distributed Autonomous Robotic Systems written by M. Ani Hsieh and published by Springer. This book was released on 2014-06-07 with total page 452 pages. Available in PDF, EPUB and Kindle. Book excerpt: Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot community: Coordination for Perception, Coverage, and Tracking; Task Allocation and Coordination Strategies; Modular Robots and Novel Mechanisms and Sensors; Formation Control and Planning for Robot Teams; and Learning, Adaptation, and Cognition for Robot Teams.

Download or read book Simulation Modeling and Programming for Autonomous Robots written by Davide Brugali and published by Springer. This book was released on 2014-09-19 with total page 606 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the refereed proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2014, held in Bergamo, Italy, in October 2014. The 49 revised full papers presented were carefully reviewed and selected from 62 submissions. The papers are organized in topical sections on simulation, modeling, programming, architectures, methods and tools, and systems and applications.