Theory And Applications For Control Of Aerial Robots In Physical Interaction Through Tethers (springer Tracts In Advanced Robotics)

This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction. The formal analysis covers topics ranging from control, state estimation, and motion planning, to experimental validation. Addressing both theoretical and technical aspects, the book is intended for a broad academic and industrial readership, including undergraduate students, researchers and engineers. It can be used as a teaching reference, or as the basis for product development. Front Matter ....Pages i-xxi Introduction (Marco Tognon, Antonio Franchi)....Pages 1-13 Theoretical Background (Marco Tognon, Antonio Franchi)....Pages 15-24 Model of the Robotic Elements (Marco Tognon, Antonio Franchi)....Pages 25-33 Theory of Tethered Aerial Vehicles (Marco Tognon, Antonio Franchi)....Pages 35-76 Simulation and Experimental Results (Marco Tognon, Antonio Franchi)....Pages 77-114 Theory and Experiments for a Practical Usecase (Marco Tognon, Antonio Franchi)....Pages 115-134 Towards Multiple Tethered Aerial Vehicles (Marco Tognon, Antonio Franchi)....Pages 135-152 Conclusions (Marco Tognon, Antonio Franchi)....Pages 153-155