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Applications and Outlook

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Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 151))

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Abstract

This chapter presents applications of the collision detection schemes from Chap. 5, and a high level research outlook for the methods developed in this theseis. Collision detection applications are presented in Sect. 6.1, namely collision reflexes and collision location determination in Sect. 6.1.1, and tactile mapping as part of an autonomy stack of a flying robot in Sect. 6.1.3. In Sect. 6.2, the goals and research question posed in this book are extrapolated towards the goal of interaction, disturbance and fault-aware flying robot swarms. It is argued that robust operation of interacting flying robots requires systematic handling of interactions and external inputs from individual robot to swarm level. For this, a scalable methodology for interaction, disturbance and fault handling is introduced, resulting in an awareness pipeline scheme that can be applied to robot swarms. Another algorithmic key element for unification is the extension of well established methods from operational space and multipriority robot control to this system class, potentially leading to novel controls and skills of flying robot swarms.

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Authors and Affiliations

  1. San Francisco, CA, USA

    Teodor Tomić

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  1. Teodor Tomić
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Correspondence to Teodor Tomić .

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Tomić, T. (2023). Applications and Outlook. In: Model-Based Control of Flying Robots for Robust Interaction Under Wind Influence. Springer Tracts in Advanced Robotics, vol 151. Springer, Cham. https://doi.org/10.1007/978-3-031-15393-8_6

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