Mission Planning and Control

  • Matko OrsagEmail author
  • Christopher Korpela
  • Paul Oh
  • Stjepan Bogdan
Part of the Advances in Industrial Control book series (AIC)


Unmanned aerial vehicles have attracted significant attention for a variety of structural inspection operations, for their ability to move in unstructured environments [3]. Typical examples include bridge inspection [26], power plant inspection [4], wind farm inspection [29], and maritime surveillance [28].


  1. 1.
    Arbanas B, Ivanovic A, Car M, Haus T, Orsag M, Petrovic T, Bogdan S (2016) Aerial-ground robotic system for autonomous delivery tasks. In: 2016 IEEE international conference on robotics and automation (ICRA), pp 5463–5468. IEEEGoogle Scholar
  2. 2.
    Beutelspacher A, Rosenbaum U (1998) Projective geometry: from foundations to applications. Cambridge University PressGoogle Scholar
  3. 3.
    Bircher A, Kamel M, Alexis K, Burri M, Oettershagen P, Omari S, Mantel T, Siegwart R (2015) Three dimensional coverage path planning via viewpoint resampling and tour optimization for aerial robots. Auton Robots, 1–20Google Scholar
  4. 4.
    Burri M, Nikolic J, Hürzeler C, Caprari G, Siegwart R (2012) Aerial service robots for visual inspection of thermal power plant boiler systems. In: 2012 2nd international conference on applied robotics for the power industry (CARPI), pp 70–75. IEEEGoogle Scholar
  5. 5.
    Eberli D, Scaramuzza D, Weiss S, Siegwart R (2011) Vision based position control for mavs using one single circular landmark. J Intell Robot Syst, 495–512Google Scholar
  6. 6.
    Fabresse Felipe R, Fernando C, Ivan M, Anibal O (2014) Localization and mapping for aerial manipulation based on range-only measurements and visual markers. In: Proceedings of 2014 IEEE international conference on robotics & automation (ICRA), pp 2100–2106Google Scholar
  7. 7.
    Fitzgibbon A, Pilu M, Fisher RB (1999) Direct least square fitting of ellipses. IEEE Trans Pattern Anal Mach Intell 21(5):476–480CrossRefGoogle Scholar
  8. 8.
    Frazzoli E, Dahleh MA, Feron E (2002) Real-time motion planning for agile autonomous vehicles. J Guid Control Dyn 25(1):116–129CrossRefGoogle Scholar
  9. 9.
    Fumagalli M, Naldi R, Macchelli A, Carloni R, Stramigioli S, Marconi L (2012) Modeling and control of a flying robot for contact inspection. In: 2012 IEEE/RSJ international conference on intelligent robots and systems (IROS), pp 3532–3537Google Scholar
  10. 10.
    Gray S, Clingerman C, Likhachev M, Chitta S (2011) Pr2: opening spring-loaded doors. In: Proceedings of IROSGoogle Scholar
  11. 11.
    Hornung A, Wurm KM, Bennewitz M, Stachniss C, Burgard W (2013) OctoMap: an efficient probabilistic 3D mapping framework based on octrees. Auton Robots.
  12. 12.
    Ishida M, Shimonomura K (2012) Marker based camera pose estimation for underwater robots. In: 2012 IEEE/SICE international symposium on system integration (SII), pp 629–634Google Scholar
  13. 13.
    Jimenez-Cano AE, Martin J, Heredia G, Ollero A, Cano R (2013) Control of an aerial robot with multi-link arm for assembly tasks. In: 2013 IEEE international conference on robotics and automation (ICRA), pp 4916–4921Google Scholar
  14. 14.
    Justin T, Giuseppe L, Koushil S, Vijay K (2014) Toward image based visual servoing for aerial grasping and perching. In: Proceedings of 2014 IEEE international conference on robotics & automation (ICRA), pp 2113–2118Google Scholar
  15. 15.
    Kanatani K, Liu W (1993) 3D interpretation of conics and orthogonality. CVGIP: Image Underst 58(3):286–301Google Scholar
  16. 16.
    Kato H, Billinghurst M (1999) Marker tracking and HMD calibration for a video based augmented reality conferencing system. In: Proceedings of the 2nd IEEE and ACM international workshop on augmented reality, 1999 (IWAR ’99), pp 85–94Google Scholar
  17. 17.
    Kavraki LE, Svestka P, Latombe J-C, Overmars MH (1996) Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Trans Robot Autom 12(4):566–580CrossRefGoogle Scholar
  18. 18.
    Kim S, Choi S, Kim HJ (2013) Aerial manipulation using a quadrotor with a two dof robotic arm. In: IEEE/RSJ international conference on intelligent robots and systems, Tokyo, JapanGoogle Scholar
  19. 19.
    Kondak K, Huber F, Schwarzbach M, Laiacker L, German S, Sommer D, Bejar M, Ollero A (2014) Aerial manipulation robot composed of an autonomous helicopter and a 7 degrees of freedom industrial manipulator. In: 2014 international conference on robotics and automation (ICRA)Google Scholar
  20. 20.
    Lagarias JC, Reeds JA, Wright MH, Wright PE (1998) Convergence properties of the nelder-mead simplex method in low dimensions. SIAM J Opt 9(1):112–147CrossRefzbMATHMathSciNetGoogle Scholar
  21. 21.
    Levine WS (1996) The control handbook. CRC pressGoogle Scholar
  22. 22.
    Lindsey Q, Mellinger D, Kumar V (2012) Construction with quadrotor teams. Auton Robots 33(3):323–336CrossRefGoogle Scholar
  23. 23.
    Macchelli A, Forte F, Keemink AQL, Stramigioli S, Carloni R, Fumagalli M, Naldi R, Marconi L (2014) Developing an aerial manipulator prototype. IEEE Robot Autom Mag, 41–55Google Scholar
  24. 24.
    Mak LC, Furukawa T (2007) A 6 DoF visual tracking system for a miniature helicopter. In: 2nd international conference on sensing technology, pp 32–37. IIST, Massey UniversityGoogle Scholar
  25. 25.
    Mellinger D, Kumar V (2011) Minimum snap trajectory generation and control for quadrotors. In: Proceedings IEEE international robotics and automation (ICRA) conference, pp 2520–2525Google Scholar
  26. 26.
    Metni N, Hamel T (2007) A UAV for bridge inspection: visual servoing control law with orientation limits. Autom Constr 17(1):3–10CrossRefGoogle Scholar
  27. 27.
    Murray RM, Rathinam M, Sluis W (1995) Differential flatness of mechanical control systems: a catalog of prototype systems. In: ASME international mechanical engineering congress and exposition. CiteseerGoogle Scholar
  28. 28.
    Nikola M, Stjepan B, Dula N, Filip M, Matko O, Tomislav H (2014) Unmanned marsupial sea–air system for object recovery. In: Proceedings 22nd mediterranean conference on control and automationGoogle Scholar
  29. 29.
    Orsag M, Haus T, Palunko I, Bogdan S (2015) State estimation, robust control and obstacle avoidance for multicopter in cluttered environments: Euroc experience and results. In: 2015 international conference on unmanned aircraft systems (ICUAS), pp 455–461. IEEEGoogle Scholar
  30. 30.
    Orsag M, Haus T, Tolić D, Ivanović A, Car M, Palunko I, Bogdan S (2016) Human-in-the-loop control of multi-agent aerial systems. In: European control conferenceGoogle Scholar
  31. 31.
    Pentenrieder K, Bade C, Doil F, Meier P (2007) Augmented reality-based factory planning - an application tailored to industrial needs. In: 6th IEEE and ACM international symposium on mixed and augmented reality, 2007, ISMAR 2007, pp 31–42Google Scholar
  32. 32.
    Petrinec K, Kovacic Z (2007) Trajectory planning algorithm based on the continuity of jerk. In: 2007 mediterranean conference on control & automationGoogle Scholar
  33. 33.
    Reza DSH, Mutijarsa K, Adiprawita W (2011) Mobile robot localization using augmented reality landmark and fuzzy inference system. In: 2011 international conference on electrical engineering and informatics (ICEEI), pp 1-6Google Scholar
  34. 34.
    Richter C, Bry A, Roy N (2013) Polynomial trajectory planning for aggressive quadrotor flight in dense indoor environments. In: Proceedings of the international symposium on robotics research (ISRR)Google Scholar
  35. 35.
    Rigatos G (2015) Nonlinear control and filtering using differential flatness approaches: applications to electromechanical systems, vol 25. SpringerGoogle Scholar
  36. 36.
    Scholten JLJ, Fumagalli M, Stramigioli S, Carloni R (2013) Interaction control of an UAV endowed with a manipulator. In: 2013 IEEE international conference on robotics and automation (ICRA), pp 4910–4915Google Scholar
  37. 37.
    Siciliano B, Khatib O (2008) Springer handbook of robotics. Springer Science & Business MediaGoogle Scholar
  38. 38.
    Sreenath K, Michael N, Kumar V (2013) Trajectory generation and control of a quadrotor with a cable-suspended load-a differentially-flat hybrid system, pp 4888–4895. IEEEGoogle Scholar
  39. 39.
    Yang S, Scherer SA, Zell A (2013) An onboard monocular vision system for autonomous takeoff, hovering and landing of a micro aerial vehicle. J Intell Robot Syst 69:499–515CrossRefGoogle Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Matko Orsag
    • 1
    Email author
  • Christopher Korpela
    • 2
  • Paul Oh
    • 3
  • Stjepan Bogdan
    • 1
  1. 1.Laboratory for Robotics and Intelligent Control Systems, Faculty of Electrical Engineering and ComputingUniversity of ZagrebZagrebCroatia
  2. 2.Department of Electrical Engineering and Computer ScienceUnited States Military AcademyWest PointUSA
  3. 3.Department of Mechanical EngineeringUniversity of Nevada Las VegasLas VegasUSA

Personalised recommendations