2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation

Salua Hamaza; Ioannis Georgilas; Thomas Richardson

doi:10.1109/IROS40897.2019.8968591

2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation

Salua Hamaza, Ioannis Georgilas, Thomas Richardson

University of Bristol

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

16 Citations (SciVal)

Abstract

In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator. This represents the first step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual SLAM. Key results show that the energy-based approach can be used to apply a continuous shear force through the manipulator while the vehicle remains in contact with the surface of interest. Results also show the robustness and repeatability of this approach for prolonged aerial interaction, and the potential for future use in more complex, un-modeled environments.

Original language	English
Title of host publication	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Publisher	IEEE
Pages	3664-3669
Number of pages	6
ISBN (Electronic)	9781728140049
DOIs	https://doi.org/10.1109/IROS40897.2019.8968591
Publication status	Published - Nov 2019
Event	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China Duration: 3 Nov 2019 → 8 Nov 2019

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/Territory	China
City	Macau
Period	3/11/19 → 8/11/19

Funding

This work was supported by the EPSRC Centre for Doctoral Training in Future Autonomous and Robotic Systems (FARSCOPE).

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS40897.2019.8968591

Cite this

Hamaza, S., Georgilas, I., & Richardson, T. (2019). 2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 3664-3669). Article 8968591 (IEEE International Conference on Intelligent Robots and Systems). IEEE. https://doi.org/10.1109/IROS40897.2019.8968591

2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation. / Hamaza, Salua; Georgilas, Ioannis; Richardson, Thomas.
2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IEEE, 2019. p. 3664-3669 8968591 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter or section in a book/report/conference proceeding › Chapter in a published conference proceeding

Hamaza, S, Georgilas, I & Richardson, T 2019, 2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation. in 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019., 8968591, IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 3664-3669, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019, Macau, China, 3/11/19. https://doi.org/10.1109/IROS40897.2019.8968591

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abstract = "In this paper a force controller via energy tanks is implemented for novel applications in aerial contour follow. This control approach allows the aerial vehicle to trace out a boundary whilst in continuous contact with a surface by means of an actively compliant manipulator. This represents the first step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual SLAM. Key results show that the energy-based approach can be used to apply a continuous shear force through the manipulator while the vehicle remains in contact with the surface of interest. Results also show the robustness and repeatability of this approach for prolonged aerial interaction, and the potential for future use in more complex, un-modeled environments.",

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2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation

Abstract

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Conference

Funding

ASJC Scopus subject areas

Access to Document

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