Chapter

Experimental Robotics

Volume 88 of the series Springer Tracts in Advanced Robotics pp 167-181

Development of Aerobots for Satellite Emulation, Architecture and Art

  • Inna SharfAffiliated withCentre for Intelligent Machines, McGill University
  • , M. S. PerssonAffiliated withCentre for Intelligent Machines, McGill University
  • , David St-OngeAffiliated withNXI Gestatio Design Lab, School of Design, University of Quebec
  • , Nicolas ReevesAffiliated withNXI Gestatio Design Lab, School of Design, University of Quebec

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Abstract

In this paper, we present two unique aerobots: the spherical blimp used for satellite emulation and the cubic blimp developed for use in floating architecture and visual art. The blimp designs bear a number of similarities, in particular, their construction with an exoskeleton, full actuation to enable six-dof motion and requirement for autonomous localization. Experimental results are presented to demonstrate the closed-loop control for station-keeping, as well as the selected performance statistics such as maximum speeds attained and time the aerobots can remain afloat. Additional qualitative results are presented from the experiments with satellite capture and artistic performances and common challenges with further use in the intended and new applications will be outlined.