Aerial Robotic Manipulation: Research, Development and Applications

Description

Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators. All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation: FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance. Front Matter ....Pages i-xxi Front Matter ....Pages 1-1 Introduction (Anibal Ollero, Bruno Siciliano)....Pages 3-11 Front Matter ....Pages 13-14 Modeling and Design of Multirotors with Multi-joint Arms (Guillermo Heredia, Raul Cano, Antonio Jimenez-Cano, Anibal Ollero)....Pages 15-33 Helicopter Based Aerial Manipulators (Manuel Bejar, Anibal Ollero, Konstantin Kondak)....Pages 35-52 Platforms with Multi-directional Total Thrust (Antonio Franchi)....Pages 53-65 Multirotor Aerodynamic Effects in Aerial Manipulation (Pedro Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero)....Pages 67-82 Compliant Aerial Manipulators with Dual Arms (Alejandro Suarez, Guillermo Heredia, Anibal Ollero)....Pages 83-95 Front Matter ....Pages 97-99 Behavioral Coordinated Kinematic Control (Gianluca Antonelli)....Pages 101-117 Centralized Control of Multirotors with Manipulators (Antonio Jimenez-Cano, Guillermo Heredia, Anibal Ollero)....Pages 119-126 Centralized Control of Helicopters with Manipulators (Manuel Bejar, Anibal Ollero, Konstantin Kondak)....Pages 127-146 Decoupled Impedance and Passivity Control Methods (Francesco Pierri)....Pages 147-157 Decentralized Control of Aerial Manipulators Through a Momentum-Based Estimator (Fabio Ruggiero)....Pages 159-174 Interaction Control of Platforms with Multi-directional Total Thrust (Antonio Franchi)....Pages 175-189 Visual Servoing of Aerial Manipulators (Angel Santamaria-Navarro, Juan Andrade-Cetto, Vincenzo Lippiello)....Pages 191-202 Coordinated Control of Multiple Aerial Manipulators (Fabrizio Caccavale)....Pages 203-215 Front Matter ....Pages 217-218 Odometry Estimation for Aerial Manipulators (A. Santamaria-Navarro, J. Solà, J. Andrade-Cetto)....Pages 219-228 Absolute Localization and Mapping of Aerial Manipulators (M. Polvillo, J. L. Paneque, J. R. Martinez-de Dios)....Pages 229-238 Relative Localization for Aerial Manipulation with PL-SLAM (A. Pumarola, Alexander Vakhitov, Antonio Agudo, F. Moreno-Noguer, A. Sanfeliu)....Pages 239-248 Precise Localization for Aerial Inspection Using Augmented Reality Markers (A. Amor-Martinez, A. Ruiz, F. Moreno-Noguer, A. Sanfeliu)....Pages 249-259 Robust Perception for Aerial Inspection: Adaptive and On-Line Techniques (M. Villamizar, A. Sanfeliu)....Pages 261-273 Perception for Detection and Grasping (E. Guerra, A. Pumarola, A. Grau, A. Sanfeliu)....Pages 275-283 Object Detection and Probabilistic Object Representation for Grasping with Two Arms (P. Ramon Soria, B. C. Arrue)....Pages 285-295 Front Matter ....Pages 297-297 Combining Assembly Planning and Geometric Task Planning (Raphaël Lallement, Juan Cortés, Mamoun Gharbi, Alexandre Boeuf, Rachid Alami, Carmelo J. Fernandez-Agüera et al.)....Pages 299-316 Motion Planning (Alexandre Boeuf, Juan Cortés, Thierry Siméon)....Pages 317-332 Reactivity and Dynamic Obstacle Avoidance (Alvaro Caballero, Manuel Bejar, Angel Rodriguez-Castaño, Anibal Ollero)....Pages 333-348 Front Matter ....Pages 349-349 Structure Assembly (Miguel Angel Trujillo, Vincenzo Lippiello, Angel Santamaria, Antidio Viguria)....Pages 351-365 Inspection and Maintenance (Anibal Ollero, Antidio Viguria, Miguel Angel Trujillo, Moritz Oetiker, Bernard Revaz)....Pages 367-379 Front Matter ....Pages 381-381 Conclusions and Future Directions (Anibal Ollero, Bruno Siciliano)....Pages 383-385