First Lecture: 19.10.2018
This lecture is on aerial robotics, i.e., robotic systems that can perform stable flight. From rigid body kinematics and dynamics to motion planning, the lecture covers the most important steps for enabling aerial systems/vehicles for achieving stable and meaningful aerial robotic tasks. This lecture requires sound knowledge on nonlinear differential equations, rigid body dynamics, basics on control theory and hands-on mentality. During the course the following topics will be studied:
- Rigid body kinematics and dynamics of Multirotor Aerial Vehicles (MAVs)
- Position and attitude tracking control
- Differential Flatness of MAVs
- State Estimation and Localization
- Motion Planning
- Aerial Physical Interaction
- Aerial Manipulation
AeRoArms (2015-2019) / LAAS-CNRS ARCAS (2011-2015) / CATEC ARCAS (2011-2015) / DLR
The course is intended for (Master) students having visited lectures focusing on Control Theory, Nonlinear Control Theory and Rigid-Body Dynamics. Moreover, during the course Matlab/Simulink, Python, as well as Robot Operating System (ROS) can/will be used. ROS (Kinetic) will be introduced in the class as well, which will come with the dependency of a Linux-based operating system. Recommendation: Ubuntu 16.04.
The lecture is contained in the 3LP-Module Advanced Methods in Systems and Control Theory.
- Mahony, V. Kumar, and P. Corke, Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor," IEEE Robotics & Automation Magazine, vol. 19, no. 3, pp. 20-32, 2012.
- D. Mellinger and V. Kumar, “Minimum snap trajectory generation and control for quadrotors," in 2011 IEEE Int. Conf. on Robotics and Automation, Shanghai, China, May. 2011, pp. 2520-2525.
- M. Faessler, A. Franchi, and D. Scaramuzza, “Differential Flatness of quadrotor dynamics subject to rotor drag for accurate tracking of high-speed trajectories," IEEE Robotics and Automation Letters, vol. 3, no. 2, pp. 620-626, 2018.
- B. Yueksel, C. Secchi, H. H. Buelthoff, and A. Franchi, “Reshaping the physical properties of a quadrotor through IDA-PBC and its application to aerial physical interaction," in 2014 IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, May. 2014, pp. 6258-6265.
- B. Yueksel, G. Buondonno, and A. Franchi, “Differential Fatness and control of protocentric aerial manipulators with any number of arms and mixed rigid-/elastic joints," in 2016 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Daejeon, South Korea, Oct. 2016, pp. 561-566.
- M. Quigley, K. Conley, B. Gerkey, J. Faust, T. Foote, J. Leibs, R. Wheeler, and A. Y. Ng, “ROS: an open-source Robot Operating System," in Workshop on Open Source Software in Robotics at the 2009 IEEE Int. Conf. on Robotics and Automation, Kobe, Japan, May 2009.
- The exam will be a presentation with subsequent qestions
- The exam is done in groups of two or three
- The duration of the exam is 15 minutes for groups of two and 20 minutes for groups of three
- It takes place on Friday, March 15