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Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles.

紀錄類型:	書目-語言資料,手稿 : Monograph/item
正題名/作者:	Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles./
作者:	Thomas, Justin.
面頁冊數:	1 online resource (136 pages)
附註:	Source: Dissertation Abstracts International, Volume: 78-12(E), Section: B.
標題:	Robotics. -
電子資源:	click for full text (PQDT)
ISBN:	9780355100273

Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles.
Thomas, Justin.

Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles. - 1 online resource (136 pages)

Source: Dissertation Abstracts International, Volume: 78-12(E), Section: B.

Thesis (Ph.D.)--University of Pennsylvania, 2017.

Includes bibliographical references

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.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2018

Mode of access: World Wide Web

ISBN: 9780355100273Subjects--Topical Terms:

561941
Robotics.
Index Terms--Genre/Form:

554714
Electronic books.

Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles.
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245 1 0 $a Grasping, Perching, and Visual Servoing for Micro Aerial Vehicles.
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300 $a 1 online resource (136 pages)
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500 $a Source: Dissertation Abstracts International, Volume: 78-12(E), Section: B.
500 $a Adviser: Vijay Kumar.
502 $a Thesis (Ph.D.)--University of Pennsylvania, 2017.
504 $a Includes bibliographical references
520 $a 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.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2018
538 $a Mode of access: World Wide Web
650 4 $a Robotics. $3 561941
650 4 $a Engineering. $3 561152
650 4 $a Mechanical engineering. $3 557493
655 7 $a Electronic books. $2 local $3 554714
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710 2 $a University of Pennsylvania. $b Mechanical Engineering and Applied Mechanics. $3 1178860
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