2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2019
DOI: 10.1109/iros40897.2019.8967611
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Aerial Robot Control in Close Proximity to Ceiling: A Force Estimation-based Nonlinear MPC

Abstract: Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this work. There are two main challenges for close proximity flights: (i) the trust characteristics varies drastically for the different distance from the ceiling which results in a complex nonlinear dynamics; (ii) the system needs to consider physical and environmental constraints … Show more

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Cited by 20 publications
(3 citation statements)
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“…For applications such as AAM, which involve close flight proximity to objects and the environment, the system must maintain stability amidst reaction forces, aerodynamic reflections, and potential friction effects. Furthermore, the dynamics of the propellers change when operating in close proximity to the surroundings [50]. This proximity results in an increased rotor wake, leading to elevated propeller velocities and the emergence of the ground effect, which generates additional repulsion forces from the ground.…”
Section: Experimental Methodologies a Aerial Platform Constraints Eva...mentioning
confidence: 99%
“…For applications such as AAM, which involve close flight proximity to objects and the environment, the system must maintain stability amidst reaction forces, aerodynamic reflections, and potential friction effects. Furthermore, the dynamics of the propellers change when operating in close proximity to the surroundings [50]. This proximity results in an increased rotor wake, leading to elevated propeller velocities and the emergence of the ground effect, which generates additional repulsion forces from the ground.…”
Section: Experimental Methodologies a Aerial Platform Constraints Eva...mentioning
confidence: 99%
“…1), thereby requiring a highly maneuverable platform. Another application where maneuverability comes in handy is aerial manipulation [8]. Therein, the forces need to be applied along specific directions, thus requiring independent position and attitude control.…”
Section: Introductionmentioning
confidence: 99%
“…Aerodynamic effects can arise also in these kinds of scenarios and applications, in which the aerial robot is required to operate in the surrounding of the infrastructure. Previous works have shown how the aerodynamic ceiling effect can change the performance of a multirotor when it approaches a surface from the underside [ 41 , 42 ] and usually requires using a specific controller [ 21 , 43 ]. However, in this specific work, the system will operate far enough from the infrastructure not to be affected by this aerodynamic disturbance.…”
Section: Introductionmentioning
confidence: 99%