An extensible framework for nonlinear aerial manipulation
Morton, Kye (2020) An extensible framework for nonlinear aerial manipulation. PhD thesis, Queensland University of Technology.
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Kye Morton Thesis
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Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. |
Description
This thesis presents a framework to aid in the design of a wide range of aerial manipulation systems. The framework provides an extensible architecture to develop, compare, and contrast new guidance and control methods for aerial manipulators.
Key developments include a range of novel techniques to generate and track practically feasible trajectories, recover from large disturbances, and the ability to perform complex manipulation tasks. The framework is an important step towards safe and reliable aerial manipulation.
Impact and interest:
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| ID Code: | 201669 |
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| Item Type: | QUT Thesis (PhD) |
| Supervisor: | Gonzalez, Felipe & Mcfadyen, Aaron |
| Keywords: | Aerial Manipulation, Robotics, Nonlinear Control, Autonomous Systems, Multirotor, Manipulation |
| DOI: | 10.5204/thesis.eprints.201669 |
| Divisions: | Past > QUT Faculties & Divisions > Science & Engineering Faculty |
| Institution: | Queensland University of Technology |
| Deposited On: | 24 Jul 2020 08:27 |
| Last Modified: | 19 Jan 2025 00:44 |
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