On autonomous and teleoperated aerial service robots

A.Y. Mersha

    Research output: ThesisPhD Thesis - Research UT, graduation UT

    165 Downloads (Pure)

    Abstract

    Traditionally, aerial robots have been used in applications that do not require physical interaction with the environment. Recently, however, there is a growing interest in using aerial robots for applications that involve active but nondestructive interaction with the environment, especially in the field of service robotics. Aerial service robots are poised to be fundamental parts of tomorrow's service applications for their low-cost, high efficiency, and safety. This thesis presents theory and application of new and advanced control architectures for autonomous and teleoperated aerial service robots. The first part of this thesis proposes different tele-control architectures that enhance the performance of the human operator while performing complex service tasks using aerial robots. The presented generic tele-control algorithms attempt to create improved telepresence of the human operator, while ensuring operator and robot safety in the presence of various classical and peculiar challenges. The second part of this thesis describes an autonomous controller for aerial manipulators. This controller exploits the dynamics of the robotic manipulator appended to the aerial robot to greatly improve the stability robustness of the controlled aerial manipulator, and to expand the flight envelop compared to the current state of the art.
    Original languageUndefined
    Awarding Institution
    • University of Twente
    Supervisors/Advisors
    • Stramigioli, Stefano, Supervisor
    • Carloni, Raffaella , Advisor
    Thesis sponsors
    Award date13 Jun 2014
    Place of PublicationEnschede
    Publisher
    Print ISBNs978-90-365-3658-5
    DOIs
    Publication statusPublished - 13 Jun 2014

    Keywords

    • IR-91157
    • EWI-24804
    • METIS-303710

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