Aerial service robots for visual inspection of thermal power plant boiler systems

Burri, Michael; Nikolic, Janosch; Hürzeler, Christoph; Caprari, Gilles; Siegwart, Roland

doi:10.1109/carpi.2012.6473374

Cited by 86 publications

(46 citation statements)

References 13 publications

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“…In our simulated experiments we use an identified second order model of the dynamics of the AscTec Hummingbird quadrotor [18]. Both a PID and an LQR trajectory controller were derived in [18] for the aforementioned vehicle.…”

Section: Trajectory Trackingmentioning

confidence: 99%

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Object and animation display with multiple aerial vehicles

Alonso–Mora

Schoch

Breitenmoser

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a fully automated method to display objects and animations in 3D with a group of aerial vehicles. The system input is a single object or an animation (sequence of objects) created by an artist. The first stage is to generate physical goal configurations and robot colors to represent the objects with the available number of robots. The run-time system includes algorithms for goal assignment, path planning and local reciprocal collision avoidance that guarantee smooth, fast and oscillation-free motion. The presented algorithms are tested in simulations and verified with real quadrotor helicopters and scale to large robot swarms.

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Section: Trajectory Trackingmentioning

confidence: 99%

“…Both a PID and an LQR trajectory controller were derived in [18] for the aforementioned vehicle. These controllers guarantee smooth convergence to the desired trajectory, in our case given by the velocity v i .…”

Section: Trajectory Trackingmentioning

confidence: 99%

Object and animation display with multiple aerial vehicles

Alonso–Mora

Schoch

Breitenmoser

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…In (Alexis et al, 2011;Alexis, Nikolakopoulos, and Tzes, 2011), a switching (among 3 piecewise-affine (PWA) systems) explicit MPC controller is presented, with experimental results. Finally, in some recent work (Burri et al, 2012) the authors describe experiments with an MPC controller for a quadrotor designed for inspections of a thermal power plant boiler.…”

Section: Introductionmentioning

confidence: 99%

On-board Model Predictive Control of a Quadrotor Helicopter: Design, Implementation, and Experiments

Bouffard¹

2012

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Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. REPORT DATE DEC 20122. REPORT TYPE 3. DATES COVERED 00-00-2012 to 00-00-2012 Copyright © 2012, by the author(s). TITLE AND SUBTITLE On-board Model Predictive Control of a QuadrotorAll rights reserved.Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, to republish, to post on servers or to redistribute to lists, requires prior specific permission. AcknowledgementThe This report describes work in applying model predictive control (MPC) techniques to the control of quadrotor helicopters, a type of micro aerial vehicle (MAV) platform that has gained great popularity in recent years both in research and commercial/military settings. MPC is a form of optimal control which is attractive in part because it allows engineering requirements to be addressed directly in the design of the controller in terms of costs to be minimized and constraints to be satisfied in an optimization problem. Furthermore, for many engineering problems of interest, the optimization to be performed is convex, meaning that a global optimum can be efficiently computed. MPC first found broad early application in the process industry, where the typically longer time scales were compatible with the time necessary to solve the optimization problem. More recently with both the exponential increase in available computing power and the development of more efficient solution techniques, MPC has become an option for control of systems with faster dynamics, such as quadrotors.We bring together results from our application of two distinct variants of MPC. The common thread is that we seek advanced control algorithms that can be applied to an autonomous MAV like the quadrotor, ideally without requiring any external resources, i.e. we aim to perform all computations required for real-time closed-loop control on-board the vehicle.The first variant is known as explicit MPC, where in a sense the heavy numerical work of solving optimization problems is done a priori and off-line, such that the on-line implementat...

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“…The IR-I, on the contrary, does not suffer from this as the operator interacts with the local dynamic model of the remote slave/environment, greatly reducing the impact of time delay on the perception. 9 The difference in perception is also captured by the transparency deviations shown in Fig. 3.8d, which is evaluated according to Definition 3.4.…”

Section: With Time Delaymentioning

confidence: 99%

“…These various research groups have been attempting to address different aspects of aerial service robots, such as design of the flying platforms [80], [98], [39], design of manipulation systems [43], [85], sensory fusion [9], [10], control of aerial robots and aerial manipulators [21], [72]. Unified integration and implementation of all these aspects contribute towards partial or complete replacement of the human, and/or effective collaboration of the aerial service robots with the human.…”

Section: Aerial Service Robotsmentioning

confidence: 99%

On autonomous and teleoperated aerial service robots

Mersha¹

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Aerial service robots for visual inspection of thermal power plant boiler systems

Cited by 86 publications

References 13 publications

Object and animation display with multiple aerial vehicles

Object and animation display with multiple aerial vehicles

On-board Model Predictive Control of a Quadrotor Helicopter: Design, Implementation, and Experiments

On autonomous and teleoperated aerial service robots

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