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  • © 2021

Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers

Authors:

  1. Marco Tognon

    1. LAAS-CNRS, Toulouse, France

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  2. Antonio Franchi

    1. University of Twente, Enschede, The Netherlands

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  • Provides a thorough formal analysis of tethered aerial vehicles ranging from control, state estimation, and motion planning, to experimental validation

  • The theoretical results on generic tethered aerial vehicles using actual experiments and numerical simulations

  • Employs the theoretical findings to solve the practical and challenging problems of landing and takeoff on/from a sloped surface, enhancing the robustness and reliability of the maneuvers with respect to the free-flight solution

  • Includes an extensive literature overview and presents the main results in a very detailed way, reworking the content of the various publications in terms of homogeneity, completeness, and clarity

Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 140)

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  • ISBN: 978-3-030-48659-4
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Table of contents (8 chapters)

  1. Front Matter

    Pages i-xxi
    PDF

  2. Introduction

    • Marco Tognon, Antonio Franchi
    Pages 1-13

  3. Theoretical Background

    • Marco Tognon, Antonio Franchi
    Pages 15-24

  4. Model of the Robotic Elements

    • Marco Tognon, Antonio Franchi
    Pages 25-33

  5. Theory of Tethered Aerial Vehicles

    • Marco Tognon, Antonio Franchi
    Pages 35-76

  6. Simulation and Experimental Results

    • Marco Tognon, Antonio Franchi
    Pages 77-114

  7. Theory and Experiments for a Practical Usecase

    • Marco Tognon, Antonio Franchi
    Pages 115-134

  8. Towards Multiple Tethered Aerial Vehicles

    • Marco Tognon, Antonio Franchi
    Pages 135-152

  9. Conclusions

    • Marco Tognon, Antonio Franchi
    Pages 153-155
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About this book

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.
  

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Keywords

  • Aerial Robots
  • Aerial Physical Interaction
  • Tethered Aerial Vehicles
  • Control
  • Motion Planning
  • Multi-robot System
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Authors and Affiliations

  • LAAS-CNRS, Toulouse, France

    Marco Tognon

  • University of Twente, Enschede, The Netherlands

    Antonio Franchi

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Bibliographic Information

  • Book Title: Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers

  • Authors: Marco Tognon, Antonio Franchi

  • Series Title: Springer Tracts in Advanced Robotics

  • DOI: https://doi.org/10.1007/978-3-030-48659-4

  • Publisher: Springer Cham

  • eBook Packages: Intelligent Technologies and Robotics, Intelligent Technologies and Robotics (R0)

  • Copyright Information: The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021

  • Hardcover ISBN: 978-3-030-48658-7Published: 27 June 2020

  • Softcover ISBN: 978-3-030-48661-7Published: 27 June 2021

  • eBook ISBN: 978-3-030-48659-4Published: 26 June 2020

  • Series ISSN: 1610-7438

  • Series E-ISSN: 1610-742X

  • Edition Number: 1

  • Number of Pages: XXI, 155

  • Number of Illustrations: 11 b/w illustrations, 49 illustrations in colour

  • Topics: Control, Robotics, Automation, Robotics, Control and Systems Theory

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Access via your institution
eBook USD 109.00
Price excludes VAT (USA)
  • ISBN: 978-3-030-48659-4
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book USD 149.99
Price excludes VAT (USA)
Hardcover Book USD 149.99
Price excludes VAT (USA)
Learn about institutional subscriptions