2024-03-29T05:45:36Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/1275942019-05-31T07:36:14Zcom_10261_106com_10261_4col_10261_485
Hierarchical task control for aerial inspection
Santamaria-Navarro, Àngel
Andrade-Cetto, Juan
European Commission
Trabajo presentado al Workshop and Summer School on Field Robotics (euRathlon/ARCAS), celebrado en Sevilla (España) del 15 al 18 de junio de 2014.
This paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a camera attached to its end-effector. With this setting the camera can reach a new set of orientations previously not feasible for the quadrotor. The over-actuation of the whole system is exploited with a hierarchical control law to achieve a primary task consisting on a visual servoing control, whilst secondary tasks can also be attained to minimize gravitational effects or undesired arm configurations. Results are shown in a Robot Operating System (ROS) simulation.
This work has been partially funded by the EU project ARCAS FP7-287617.
Peer Reviewed
2016-01-14T09:29:17Z
2016-01-14T09:29:17Z
2014
2016-01-14T09:29:17Z
comunicación de congreso
http://purl.org/coar/resource_type/c_5794
euRathlon/ARCAS Summer School 2014
http://hdl.handle.net/10261/127594
http://dx.doi.org/10.13039/501100000780
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info:eu-repo/grantAgreement/EC/FP7/287617
Publisher's version
http://www.eurathlon.eu/index.php/workshop/workshop2014/
Sí
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