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Table of Contents
Intro
Organization
Committees
Foreword
Preface
Contents
About the Editors
Part IKeynote Lectures
1 Aerial Robots and Infrastructure of Their Working Environment
1.1 Introduction: What Is AR, UAV, UAS
1.2 Components of Unmanned Aerial System
1.2.1 Main Functional Means
1.2.2 Supporting Resources
1.2.3 Personnel
1.2.4 Means of Integration with Other Systems
1.2.5 Software
1.2.6 Documentation
1.3 Service Stations
1.3.1 Motivation
1.3.2 Classification of Replenishment Service Stations
1.3.3 Known Solutions Realizing Open Pads Conception. Classification Criteria
1.3.4 Platforms Based on Intelligent Contact Pads
1.3.5 Charging Stations Based on Flat Parallel Electrodes
1.4 Conclusion
References
2 Microgrippers: Principle of Operation, Construction, and Control Method
2.1 Introduction
2.2 Applications and Specifics of Microgripping Devices
2.3 Examples of Microgripper Designs
2.4 Information System Architecture
2.5 Control System of Intelligent Capillary Microgripper
2.6 Construction Prospects
2.7 Conclusion
References
3 Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design
3.1 Introduction
3.2 The Principle and Mathematical Model of WLLS
3.2.1 Composition and Motion Principle
3.2.2 The Mathematical Description
3.2.3 State-Space Model of WLLS
3.3 The Design of Sliding Mode Controller
3.4 The Design of Fuzzy Rules
3.5 Simulation
3.6 Conclusion
References
Part IIRobotics and Automation
4 Tactical Level of Intelligent Geometric Control System for Unmanned Aerial Vehicles
4.1 Introduction
4.1.1 Motivation
4.1.2 Related Works
4.1.3 Main Contributions
4.2 The Principles of Intelligent Geometric Control
4.2.1 The Purpose of Intelligent Geometric Control
4.2.2 Hierarchical System to Control a Dynamic Object
4.3 Tactical Control Level
4.3.1 Trajectory Tracking Problem
4.3.2 Pontryagin's Maximum Principle
4.3.3 A Set of Control Rules for Pursuing a Target
4.4 Executive Control Level
4.5 Simulation of UAV Movement and Mission Execution
4.6 Conclusion
References
5 Three-Dimensional Consensus-Based Control of Autonomous UAV Swarm Formations
5.1 Introduction
5.2 Preliminary Notes and Used Models
5.2.1 Multi-UAV System Model and UAV Model
5.2.2 Statement of Problems
5.2.3 Architecture of Interaction in a Decentralized Multi-UAV System
5.3 Strategy to Control 3D UAV Swarm Formations
5.3.1 Formation Control for Horizontal Path Following
5.3.2 Formation Control for Descending Path Following
5.4 Simulation Results
5.5 Conclusions
References
6 Approach to UAV Swarm Control and Collision-Free Reconfiguration
6.1 Introduction
6.2 UAV Swarm Control Approach
6.3 Reconfiguration Algorithms
6.4 Results
6.5 Conclusion
Organization
Committees
Foreword
Preface
Contents
About the Editors
Part IKeynote Lectures
1 Aerial Robots and Infrastructure of Their Working Environment
1.1 Introduction: What Is AR, UAV, UAS
1.2 Components of Unmanned Aerial System
1.2.1 Main Functional Means
1.2.2 Supporting Resources
1.2.3 Personnel
1.2.4 Means of Integration with Other Systems
1.2.5 Software
1.2.6 Documentation
1.3 Service Stations
1.3.1 Motivation
1.3.2 Classification of Replenishment Service Stations
1.3.3 Known Solutions Realizing Open Pads Conception. Classification Criteria
1.3.4 Platforms Based on Intelligent Contact Pads
1.3.5 Charging Stations Based on Flat Parallel Electrodes
1.4 Conclusion
References
2 Microgrippers: Principle of Operation, Construction, and Control Method
2.1 Introduction
2.2 Applications and Specifics of Microgripping Devices
2.3 Examples of Microgripper Designs
2.4 Information System Architecture
2.5 Control System of Intelligent Capillary Microgripper
2.6 Construction Prospects
2.7 Conclusion
References
3 Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design
3.1 Introduction
3.2 The Principle and Mathematical Model of WLLS
3.2.1 Composition and Motion Principle
3.2.2 The Mathematical Description
3.2.3 State-Space Model of WLLS
3.3 The Design of Sliding Mode Controller
3.4 The Design of Fuzzy Rules
3.5 Simulation
3.6 Conclusion
References
Part IIRobotics and Automation
4 Tactical Level of Intelligent Geometric Control System for Unmanned Aerial Vehicles
4.1 Introduction
4.1.1 Motivation
4.1.2 Related Works
4.1.3 Main Contributions
4.2 The Principles of Intelligent Geometric Control
4.2.1 The Purpose of Intelligent Geometric Control
4.2.2 Hierarchical System to Control a Dynamic Object
4.3 Tactical Control Level
4.3.1 Trajectory Tracking Problem
4.3.2 Pontryagin's Maximum Principle
4.3.3 A Set of Control Rules for Pursuing a Target
4.4 Executive Control Level
4.5 Simulation of UAV Movement and Mission Execution
4.6 Conclusion
References
5 Three-Dimensional Consensus-Based Control of Autonomous UAV Swarm Formations
5.1 Introduction
5.2 Preliminary Notes and Used Models
5.2.1 Multi-UAV System Model and UAV Model
5.2.2 Statement of Problems
5.2.3 Architecture of Interaction in a Decentralized Multi-UAV System
5.3 Strategy to Control 3D UAV Swarm Formations
5.3.1 Formation Control for Horizontal Path Following
5.3.2 Formation Control for Descending Path Following
5.4 Simulation Results
5.5 Conclusions
References
6 Approach to UAV Swarm Control and Collision-Free Reconfiguration
6.1 Introduction
6.2 UAV Swarm Control Approach
6.3 Reconfiguration Algorithms
6.4 Results
6.5 Conclusion