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Enabling In-Air Interactions for Aerial Vehicles.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Enabling In-Air Interactions for Aerial Vehicles./
Author:	Shankar, Ajay.
Description:	1 online resource (238 pages)
Notes:	Source: Dissertations Abstracts International, Volume: 83-03, Section: B.
Contained By:	Dissertations Abstracts International83-03B.
Subject:	Robotics. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28712999click for full text (PQDT)
ISBN:	9798535578385

Enabling In-Air Interactions for Aerial Vehicles.
Shankar, Ajay.

Enabling In-Air Interactions for Aerial Vehicles. - 1 online resource (238 pages)

Source: Dissertations Abstracts International, Volume: 83-03, Section: B.

Thesis (Ph.D.)--The University of Nebraska - Lincoln, 2021.

Includes bibliographical references

Aerial robots, specifically multirotors, combine two invaluable field robot skills: computational sensing, and spatial mobility. Unmanned aerial systems (UASs) have hence found rapid adoption into various domain sciences, as well as algorithmic and systems research. Today, they are computational organisms that can hover precisely as well as travel fast, and can transport sensors across volumes as well as avoid obstacles along the way. They remain, however, fairly limited in their ability to undertake physical and contact-based interactions in their environment.In this thesis, we propose mid-air tactile interactions between multiple UASs as the next step in the advancement of multirotor flight. Specifically, we develop novel methods that enable multirotors to dock with another moving system, and transfer payloads while remaining simultaneously airborne. These pose unconventional challenges in state estimation, control, and system development, especially when in close proximity to each other. We address these methodically through optimal algorithmic frameworks that anticipate these challenges and are robust even `in the field'.Towards this end, we develop FREYJA, a fully open-source optimal flight control stack that enables precise and accurate control over agile maneuvers. We then present novel algorithms and systems for a multirotor to recover free-drifting parachutes in the air, and then develop more deliberative means for an in-air transfer of payload between two multirotors. We also extend our aerial interactions to enable multirotors to dock with aircraft in forward flight, a novel contribution that dramatically expands the scope of their operations. The approaches developed in this thesis together form the first instances of multirotors exchanging payloads mid-air and docking while in motion. This work collectively enables multirotors to interact more closely with each other and their environment, and react gracefully to external tactile forces. Our concluding remarks expound the rich space of opportunities offered by interacting robots that coordinate to undertake contact-based missions. Doing this outdoors is crucial for the next generation of robotic systems that are practical as well as resourceful.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798535578385Subjects--Topical Terms:

519753
Robotics.
Subjects--Index Terms:

Aerial interactionsIndex Terms--Genre/Form:

542853
Electronic books.

Enabling In-Air Interactions for Aerial Vehicles.
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500 $a Source: Dissertations Abstracts International, Volume: 83-03, Section: B.
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502 $a Thesis (Ph.D.)--The University of Nebraska - Lincoln, 2021.
504 $a Includes bibliographical references
520 $a Aerial robots, specifically multirotors, combine two invaluable field robot skills: computational sensing, and spatial mobility. Unmanned aerial systems (UASs) have hence found rapid adoption into various domain sciences, as well as algorithmic and systems research. Today, they are computational organisms that can hover precisely as well as travel fast, and can transport sensors across volumes as well as avoid obstacles along the way. They remain, however, fairly limited in their ability to undertake physical and contact-based interactions in their environment.In this thesis, we propose mid-air tactile interactions between multiple UASs as the next step in the advancement of multirotor flight. Specifically, we develop novel methods that enable multirotors to dock with another moving system, and transfer payloads while remaining simultaneously airborne. These pose unconventional challenges in state estimation, control, and system development, especially when in close proximity to each other. We address these methodically through optimal algorithmic frameworks that anticipate these challenges and are robust even `in the field'.Towards this end, we develop FREYJA, a fully open-source optimal flight control stack that enables precise and accurate control over agile maneuvers. We then present novel algorithms and systems for a multirotor to recover free-drifting parachutes in the air, and then develop more deliberative means for an in-air transfer of payload between two multirotors. We also extend our aerial interactions to enable multirotors to dock with aircraft in forward flight, a novel contribution that dramatically expands the scope of their operations. The approaches developed in this thesis together form the first instances of multirotors exchanging payloads mid-air and docking while in motion. This work collectively enables multirotors to interact more closely with each other and their environment, and react gracefully to external tactile forces. Our concluding remarks expound the rich space of opportunities offered by interacting robots that coordinate to undertake contact-based missions. Doing this outdoors is crucial for the next generation of robotic systems that are practical as well as resourceful.
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538 $a Mode of access: World Wide Web
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650 4 $a Computer science. $3 523869
650 4 $a Artificial intelligence. $3 516317
650 4 $a Outdoors. $3 3564312
650 4 $a Cameras. $3 524039
650 4 $a Hypotheses. $3 3560118
650 4 $a Experiments. $3 525909
650 4 $a Pipelines. $3 899458
650 4 $a Bias. $2 gtt $3 1374837
650 4 $a Vehicles. $3 2145288
653 $a Aerial interactions
653 $a Docking
653 $a Field robotics
653 $a Multirotor
653 $a Payload transfer
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710 2 $a The University of Nebraska - Lincoln. $b Computer Science. $3 1035526
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