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Hierarchical task control for aerial inspection
| dc.contributor.author | Santamaria Navarro, Àngel |
| dc.contributor.author | Andrade-Cetto, Juan |
| dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
| dc.date.accessioned | 2015-05-18T14:54:47Z |
| dc.date.available | 2015-05-18T14:54:47Z |
| dc.date.created | 2014 |
| dc.date.issued | 2014 |
| dc.identifier.citation | Santamaria, A.; Andrade-Cetto, J. Hierarchical task control for aerial inspection. A: Workshop and Summer School on Field Robotics. "Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,". Sevilla: 2014, p. 1-4. |
| dc.identifier.uri | http://hdl.handle.net/2117/27954 |
| dc.description.abstract | 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. |
| dc.format.extent | 4 p. |
| dc.language.iso | eng |
| dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
| dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
| dc.subject.other | aerospace robotics |
| dc.subject.other | control theory |
| dc.subject.other | manipulators |
| dc.subject.other | robot kinematics |
| dc.subject.other | hierarchical control law |
| dc.title | Hierarchical task control for aerial inspection |
| dc.type | Conference report |
| dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
| dc.description.peerreviewed | Peer Reviewed |
| dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
| dc.relation.publisherversion | http://www.eurathlon.eu/site/index.php/workshop/ |
| dc.rights.access | Open Access |
| local.identifier.drac | 15073830 |
| dc.description.version | Postprint (author’s final draft) |
| dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/287617/EU/Aerial Robotics Cooperative Assembly System/ARCAS |
| local.citation.author | Santamaria, A.; Andrade-Cetto, J. |
| local.citation.contributor | Workshop and Summer School on Field Robotics |
| local.citation.pubplace | Sevilla |
| local.citation.publicationName | Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics, |
| local.citation.startingPage | 1 |
| local.citation.endingPage | 4 |
