Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers

Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers

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This book studies how autonomous aerial robots physically interact with the surrounding environment. Intended to promote the advancement of aerial physical interaction, it analyzes a particular class of aerial robots: tethered aerial vehicles. By examining specific systems, while still considering the challenges of the general problem, it will help readers acquire the knowledge and expertise needed for the subsequent development of more general methods applicable to aerial physical interaction.The formal analysis covers topics ranging from control, state estimation, and motion planning, to exp...