Trajectory Generation and Control for Quadrotors

This thesis presents contributions to the state-of-the-art in quadrotor control, payload transportation with single and multiple quadrotors, and trajectory generation for single and multiple quadrotors. In Ch. 2 we describe a controller capable of handling large roll and pitch angles that enables a quadrotor to follow trajectories requiring large accelerations and also recover from extreme initial conditions. In Ch. 3 we describe a method that allows teams of quadrotors to work together to carry payloads that they could not carry individually. In Ch. 4 we discuss an online parameter estimation method for quadrotors transporting payloads which enables a quadrotor to use its dynamics in order to learn about the payload it is carrying and also adapt its control law in order to improve tracking performance. In Ch. 5 we present a trajectory generation method that enables quadrotors to fly through narrow gaps at various orientations and perch on inclined surfaces. Chapter 6 discusses a method for generating dynamically optimal trajectories through a series of predefined waypoints and safe corridors and Ch. 7 extends that method to enable heterogeneous quadrotor teams to quickly rearrange formations and avoid a small number of obstacles

A review of aerial manipulation of small-scale rotorcraft unmanned robotic systems

Small-scale rotorcraft unmanned robotic systems (SRURSs) are a kind of unmanned rotorcraft with manipulating devices. This review aims to provide an overview on aerial manipulation of SRURSs nowadays and promote relative research in the future. In the past decade, aerial manipulation of SRURSs has attracted the interest of researchers globally. This paper provides a literature review of the last 10 years (2008–2017) on SRURSs, and details achievements and challenges. Firstly, the definition, current state, development, classification, and challenges of SRURSs are introduced. Then, related papers are organized into two topical categories: mechanical structure design, and modeling and control. Following this, research groups involved in SRURS research and their major achievements are summarized and classified in the form of tables. The research groups are introduced in detail from seven parts. Finally, trends and challenges are compiled and presented to serve as a resource for researchers interested in aerial manipulation of SRURSs. The problem, trends, and challenges are described from three aspects. Conclusions of the paper are presented, and the future of SRURSs is discussed to enable further research interests

Quadrotor team modeling and control for DLO transportation

94 p.Esta Tesis realiza una propuesta de un modelado dinámico para el transporte de sólidos lineales deformables (SLD) mediante un equipo de cuadricópteros. En este modelo intervienen tres factores: - Modelado dinámico del sólido lineal a transportar. - Modelo dinámico del cuadricóptero para que tenga en cuenta la dinámica pasiva y los efectos del SLD. - Estrategia de control para un transporte e ciente y robusto. Diferenciamos dos tareas principales: (a) lograr una con guración cuasiestacionaria de una distribución de carga equivalente a transportar entre todos los robots. (b) Ejecutar el transporte en un plano horizontal de todo el sistema. El transporte se realiza mediante una con guración de seguir al líder en columna, pero los cuadricópteros individualmente tienen que ser su cientemente robustos para afrontar todas las no-linealidades provocadas por la dinámica del SLD y perturbaciones externas, como el viento. Los controladores del cuadricóptero se han diseñado para asegurar la estabilidad del sistema y una rápida convergencia del sistema. Se han comparado y testeado estrategias de control en tiempo real y no-real para comprobar la bondad y capacidad de ajuste a las condiciones dinámicas cambiantes del sistema. También se ha estudiado la escalabilidad del sistema

VIPLE Extensions in Robotic Simulation, Quadrotor Control Platform, and Machine Learning for Multirotor Activity Recognition

abstract: Machine learning tutorials often employ an application and runtime specific solution for a given problem in which users are expected to have a broad understanding of data analysis and software programming. This thesis focuses on designing and implementing a new, hands-on approach to teaching machine learning by streamlining the process of generating Inertial Movement Unit (IMU) data from multirotor flight sessions, training a linear classifier, and applying said classifier to solve Multi-rotor Activity Recognition (MAR) problems in an online lab setting. MAR labs leverage cloud computing and data storage technologies to host a versatile environment capable of logging, orchestrating, and visualizing the solution for an MAR problem through a user interface. MAR labs extends Arizona State University’s Visual IoT/Robotics Programming Language Environment (VIPLE) as a control platform for multi-rotors used in data collection. VIPLE is a platform developed for teaching computational thinking, visual programming, Internet of Things (IoT) and robotics application development. As a part of this education platform, this work also develops a 3D simulator capable of simulating the programmable behaviors of a robot within a maze environment and builds a physical quadrotor for use in MAR lab experiments.Dissertation/ThesisMasters Thesis Computer Science 201

Contributions to Open Problems on Cable Driven Robots and Persistent Manifolds for the Synthesis of Mechanisms

Although many efforts are continuously devoted to the advancement of robotics, there are still many open and unresolved problems to be faced. This thesis, therefore, sets out to tackle some of them with the aim of scratching the surface and look a little further for new ideas or solutions. The topics covered are mainly two. The first part deals with the development and improvement of control techniques for cable-driven robots. The second focuses on the study of persistent manifolds seen as constituting aspects of theoretical kinematics. In detail, -Part I deals with cable-driven platforms. In it, both techniques for selecting cable tensions and the design of a robust controller are developed. The aim is, therefore, to enhance the two building blocks of the overall control scheme in order to improve the performance of these robots during the execution of tracking tasks. -- The first chapter introduces to open problems and recalls the main concepts necessary to understand the following chapters; -- the contribution of the second chapter consists of the introduction of the Analytic Centre. It allows the generation of continuous and differentiable tension profiles while taking into account non-linear phenomena such as friction in the computation of tensions to be applied; -- the third chapter, although still at a preliminary stage, introduces sensitivity for tension calculation methods, offering perspectives of considerable interest for tension control in the current scientific context; -- the fourth chapter proposes the design of an adaptive controller. It allows external disturbances and/or uncertainties in the model to be faced such that the task can be performed with as little error as possible. The controller architecture is the innovative peculiarity conferring autonomy to cable systems. Initially applied to counteract wind in aerial systems it is now also used for cable breakage scenarios; -- the conclusions, at first, draw together the results obtained. In addition, they emphasise the lack of the techniques introduced in order to outline possible future paths and topics that need further investigation. - Part II delves into theoretical kinematics. The discovery and classification of invariant screw systems shed light on numerous aspects of robot mobility and synthesis. Nevertheless, this generated the emergence of new ideas and questions that are still unresolved. Among them, one of the more notable concerns the identification and classification of 5-dimensional persistent manifolds. -- Similarly to the first part, the first chapter provides an overview of the problems addressed and the theoretical notions necessary to understand the subsequent contributions; -- the second chapter contributes by directly tackling the above-mentioned question by exploiting the properties of dual quaternions, the Study quadric and differential geometry. A library of 5-persistent varieties, so far missing in the literature, is presented along with theorems that complete and generalise previous ones in the literature; -- an original work, concerning line motions and synthesis of mechanisms that generate them, is reported in the third chapter as a spin-off of the studies on persistent manifolds; -- the conclusions wrap up the obtained results trying to highlight gaps and deficiencies to be dealt with in the future. Here, two small sections are dedicated to ongoing works regarding the persistence definition and the screw systems' invariants and subvariants

Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles

Micro Aerial Vehicles (MAVs) have seen a dramatic growth in the consumer market because of their ability to provide new vantage points for aerial photography and videography. However, there is little consideration for physical interaction with the environment surrounding them. Onboard manipulators are absent, and onboard perception, if existent, is used to avoid obstacles and maintain a minimum distance from them. There are many applications, however, which would benefit greatly from aerial manipulation or flight in close proximity to structures. This work is focused on facilitating these types of close interactions between quadrotors and surrounding objects. We first explore high-speed grasping, enabling a quadrotor to quickly grasp an object while moving at a high relative velocity. Next, we discuss planning and control strategies, empowering a quadrotor to perch on vertical surfaces using a downward-facing gripper. Then, we demonstrate that such interactions can be achieved using only onboard sensors by incorporating vision-based control and vision-based planning. In particular, we show how a quadrotor can use a single camera and an Inertial Measurement Unit (IMU) to perch on a cylinder. Finally, we generalize our approach to consider objects in motion, and we present relative pose estimation and planning, enabling tracking of a moving sphere using only an onboard camera and IMU

Outdoor operations of multiple quadrotors in windy environment

Coordinated multiple small unmanned aerial vehicles (sUAVs) offer several advantages over a single sUAV platform. These advantages include improved task efficiency, reduced task completion time, improved fault tolerance, and higher task flexibility. However, their deployment in an outdoor environment is challenging due to the presence of wind gusts. The coordinated motion of a multi-sUAV system in the presence of wind disturbances is a challenging problem when considering collision avoidance (safety), scalability, and communication connectivity. Performing wind-agnostic motion planning for sUAVs may produce a sizeable cross-track error if the wind on the planned route leads to actuator saturation. In a multi-sUAV system, each sUAV has to locally counter the wind disturbance while maintaining the safety of the system. Such continuous manipulation of the control effort for multiple sUAVs under uncertain environmental conditions is computationally taxing and can lead to reduced efficiency and safety concerns. Additionally, modern day sUAV systems are susceptible to cyberattacks due to their use of commercial wireless communication infrastructure. This dissertation aims to address these multi-faceted challenges related to the operation of outdoor rotor-based multi-sUAV systems. A comprehensive review of four representative techniques to measure and estimate wind speed and direction using rotor-based sUAVs is discussed. After developing a clear understanding of the role wind gusts play in quadrotor motion, two decentralized motion planners for a multi-quadrotor system are implemented and experimentally evaluated in the presence of wind disturbances. The first planner is rooted in the reinforcement learning (RL) technique of state-action-reward-state-action (SARSA) to provide generalized path plans in the presence of wind disturbances. While this planner provides feasible trajectories for the quadrotors, it does not provide guarantees of collision avoidance. The second planner implements a receding horizon (RH) mixed-integer nonlinear programming (MINLP) model that is integrated with control barrier functions (CBFs) to guarantee collision-free transit of the multiple quadrotors in the presence of wind disturbances. Finally, a novel communication protocol using Ethereum blockchain-based smart contracts is presented to address the challenge of secure wireless communication. The U.S. sUAV market is expected to be worth $92 Billion by 2030. The Association for Unmanned Vehicle Systems International (AUVSI) noted in its seminal economic report that UAVs would be responsible for creating 100,000 jobs by 2025 in the U.S. The rapid proliferation of drone technology in various applications has led to an increasing need for professionals skilled in sUAV piloting, designing, fabricating, repairing, and programming. Engineering educators have recognized this demand for certified sUAV professionals. This dissertation aims to address this growing sUAV-market need by evaluating two active learning-based instructional approaches designed for undergraduate sUAV education. The two approaches leverages the interactive-constructive-active-passive (ICAP) framework of engagement and explores the use of Competition based Learning (CBL) and Project based Learning (PBL). The CBL approach is implemented through a drone building and piloting competition that featured 97 students from undergraduate and graduate programs at NJIT. The competition focused on 1) drone assembly, testing, and validation using commercial off-the-shelf (COTS) parts, 2) simulation of drone flight missions, and 3) manual and semi-autonomous drone piloting were implemented. The effective student learning experience from this competition served as the basis of a new undergraduate course on drone science fundamentals at NJIT. This undergraduate course focused on the three foundational pillars of drone careers: 1) drone programming using Python, 2) designing and fabricating drones using Computer-Aided Design (CAD) and rapid prototyping, and 3) the US Federal Aviation Administration (FAA) Part 107 Commercial small Unmanned Aerial Vehicles (sUAVs) pilot test. Multiple assessment methods are applied to examine the students’ gains in sUAV skills and knowledge and student attitudes towards an active learning-based approach for sUAV education. The use of active learning techniques to address these challenges lead to meaningful student engagement and positive gains in the learning outcomes as indicated by quantitative and qualitative assessments

CONTROL STRATEGY OF MULTIROTOR PLATFORM UNDER NOMINAL AND FAULT CONDITIONS USING A DUAL-LOOP CONTROL SCHEME USED FOR EARTH-BASED SPACECRAFT CONTROL TESTING

Over the last decade, autonomous Unmanned Aerial Vehicles (UAVs) have seen increased usage in industrial, defense, research, and academic applications. Specific attention is given to multirotor platforms due to their high maneuverability, utility, and accessibility. As such, multirotors are often utilized in a variety of operating conditions such as populated areas, hazardous environments, inclement weather, etc. In this study, the effectiveness of multirotor platforms, specifically quadrotors, to behave as Earth-based satellite test platforms is discussed. Additionally, due to concerns over system operations under such circumstances, it becomes critical that multirotors are capable of operation despite experiencing undesired conditions and collisions which make the platform susceptible to on-board hardware faults. Without countermeasures to account for such faults, specifically actuator faults, a multirotors will experience catastrophic failure. In this thesis, a control strategy for a quadrotor under nominal and fault conditions is proposed. The process of defining the quadrotor dynamic model is discussed in detail. A dual-loop SMC/PID control scheme is proposed to control the attitude and position states of the nominal system. Actuator faults on-board the quadrotor are interpreted as motor performance losses, specifically loss in rotor speeds. To control a faulty system, an additive control scheme is implemented in conjunction with the nominal scheme. The quadrotor platform is developed via analysis of the various subcomponents. In addition, various physical parameters of the quadrotor are determined experimentally. Simulated and experimental testing showed promising results, and provide encouragement for further refinement in the future