Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications provides an in-depth look at both theory and practical applications surrounding the Aerial Robotic Worker (ARW). Emerging ARWs are fully autonomous flying robots that can assist human operations through their agile performance of aerial inspections and interaction with the surrounding infrastructure. This book addresses all the fundamental components of ARWs, starting with the hardware and software components and then addressing aspects of modeling, control, perception of the environment, and the concept of aerial manipulators, cooperative ARWs, and direct applications.
The book includes sample codes and ROS-based tutorials, enabling the direct application of the chapters and real-life examples with platforms already existing in the market.
1. Chapter 1. Introduction - p. xiv 2. Chapter 2. The fundamental hardware modules of an ARW - p. 4 3. Chapter 3. Modeling for ARWs - p. 30 4. Chapter 4. Control of ARWs - p. 49 5. Chapter 5. Perception capabilities for ARWs: The art of perceiving the environment - p. 65 6. Chapter 6. Navigation for ARWs - p. 78 7. Chapter 7. Exploration with ARWs - p. 108 8. Chapter 8. External force estimation for ARWs - p. 129 9. Chapter 9. Perception driven guidance modules for aerial manipulation - p. 141 10. Chapter 10. Machine learning for ARWs - p. 159 11. Chapter 11. Aerial infrastructures inspection - p. 175 12. Chapter 12. ARW deployment for subterranean environments - p. 213 13. Chapter 13. Edge connected ARWs - p. 245 14. Index - p. 255
Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications provides an in-depth look at both theory and practical applications surrounding the Aerial Robotic Worker (ARW). Emerging ARWs are fully autonomous flying robots that can assist human operations through their agile performance of aerial inspections and interaction with the surrounding infrastructure. This book addresses all the fundamental components of ARWs, starting with the hardware and software components and then addressing aspects of modeling, control, perception of the environment, and the concept of aerial manipulators, cooperative ARWs, and direct applications.
The book includes sample codes and ROS-based tutorials, enabling the direct application of the chapters and real-life examples with platforms already existing in the market.
1. Chapter 1. Introduction - p. xiv 2. Chapter 2. The fundamental hardware modules of an ARW - p. 4 3. Chapter 3. Modeling for ARWs - p. 30 4. Chapter 4. Control of ARWs - p. 49 5. Chapter 5. Perception capabilities for ARWs: The art of perceiving the environment - p. 65 6. Chapter 6. Navigation for ARWs - p. 78 7. Chapter 7. Exploration with ARWs - p. 108 8. Chapter 8. External force estimation for ARWs - p. 129 9. Chapter 9. Perception driven guidance modules for aerial manipulation - p. 141 10. Chapter 10. Machine learning for ARWs - p. 159 11. Chapter 11. Aerial infrastructures inspection - p. 175 12. Chapter 12. ARW deployment for subterranean environments - p. 213 13. Chapter 13. Edge connected ARWs - p. 245 14. Index - p. 255
