Abstract
This book aimed to make aerial robots aware of the disturbance, interaction, and faults acting on them. This yielded the following goals: Make flying robots aware of contacts and collisions, by providing a low-level detection and reaction framework. Provide an estimate of the wind velocity that is independent of the external wrench. Bridge the gap between trajectory tracking and interaction control, to allow physical interaction under wind influence.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
T. Tomić, The flying anemometer: unified estimation of wind velocity from aerodynamic power and wrenches, in IROS 2016 (IEEE, Daejeon, Korea, 2016), pp. 1637–1644
T. Tomić, S. Haddadin, A unified framework for external wrench estimation, interaction control and collision reflexes for flying robots, in IROS 2014 (IL, USA, Chicago, 2014)
T. Tomić, C. Ott, S. Haddadin, External wrench estimation, Collision detection, and reflex reaction for flying robots. IEEE Trans. Robot 33(6), 1467–1482 (2017). ISSN: 1552-3098. https://doi.org/10.1109/TRO.2017.2750703
T. Tomić, K. Schmid, P. Lutz, A. Mathers, S. Haddadin, Simultaneous contact and aerodynamic force estimation (s-CAFE) for aerial robots. Int. J. Robot. Res. (IJRR) 39(6), 688–728 (2020). https://doi.org/10.1177/0278364920904788
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2023 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Tomić, T. (2023). Conclusion. 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_7
Download citation
DOI: https://doi.org/10.1007/978-3-031-15393-8_7
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-15392-1
Online ISBN: 978-3-031-15393-8
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)