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Front Cover |
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Indoor Navigation Strategies for Aerial Autonomous Systems |
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Copyright |
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Contents |
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About the Authors |
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Preface |
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Acknowledgments |
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Part 1 Background |
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1 State-of-the-Art |
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1.1 Mathematical Representation of the Vehicle Dynamics |
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1.2 Attitude Estimation Using Inertial Sensors |
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1.3 Delay Systems & Predictors |
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1.4 Data Fusion for UAV Localization |
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1.5 Control & Navigation Algorithms |
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1.6 Trajectory Generation & Tracking |
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1.7 Obstacle Avoidance |
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1.8 Teleoperation |
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References |
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2 Modeling Approaches |
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2.1 Force and Moment in a Rotor |
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2.2 Euler-Lagrange Approach |
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2.3 Newton-Euler Approach |
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2.4 Quaternion Approach |
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2.5 Discussion |
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References |
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Part 2 Improving Sensor Signals for Control Purposes |
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3 Inertial Sensors Data Fusion for Orientation Estimation |
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3.1 Attitude Representation |
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3.2 Sensor Characterization |
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3.3 Attitude Estimation Algorithms |
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3.4 A Computationally-Efficient Kalman Filter |
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3.5 Discussion |
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References |
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4 Delay Signals & Predictors |
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4.1 Observer-Predictor Algorithm for Compensation of Measurement Delays |
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4.2 State Predictor-Control Scheme |
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4.3 Discussion |
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References |
122 |
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5 Data Fusion for UAV Localization |
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5.1 Sensor Data Fusion |
124 |
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5.2 Prototype and Numerical Implementation |
131 |
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5.3 Flight Tests and Experimental Results |
133 |
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5.4 OptiTrack Measurements vs EKF Estimation |
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5.5 Rotational Optical Flow Compensation |
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5.6 Discussion |
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References |
143 |
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Part 3 Navigation Schemes & Control Strategies |
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6 Nonlinear Control Algorithms with Integral Action |
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6.1 From PD to PID Controllers |
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6.2 Saturated Controllers with Integral Component |
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6.3 Integral and Adaptive Backstepping Control - IAB |
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6.4 Discussion |
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References |
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7 Sliding Mode Control |
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7.1 From the Nonlinear Attitude Representation to Linear MIMO Expression |
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7.2 Nonlinear Optimal Controller with Integral Sliding Mode Design |
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7.3 Numerical Validation |
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7.4 Real-Time Validation |
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7.5 Discussion |
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References |
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8 Robust Simple Controllers |
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8.1 Nonlinear Robust Algorithms Based on Saturation Functions |
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8.2 Robust Control Based on an Uncertainty Estimator |
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8.3 Discussion |
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References |
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9 Trajectory Generation, Planning & Tracking |
228 |
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9.1 Quadrotor Mathematical Description |
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9.2 Time-Optimal Trajectory Generation |
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9.3 UAV Routing Problem for Inspection-Like Missions |
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9.4 Trajectory Tracking Problem |
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9.5 Simulation Results |
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9.6 Discussion |
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References |
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10 Obstacle Avoidance |
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10.1 Artificial Potential Field Method |
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10.2 Obstacle Avoidance Algorithm |
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10.3 Limit-Cycle Obstacle Avoidance |
272 |
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10.4 Discussion |
276 |
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References |
276 |
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11 Haptic Teleoperation |
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11.1 Experimental Setup |
279 |
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11.2 Collision Avoidance |
284 |
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11.3 Haptic Teleoperation |
285 |
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11.4 Real-Time Experiments |
286 |
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11.5 Discussion |
289 |
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References |
290 |
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Index |
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Back Cover |
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