Cacace, Jonathan (2016) A Control Architecture for Unmanned Aerial Vehicles Operating in Human-Robot Team for Service Robotic Tasks. [Tesi di dottorato]
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| Item Type: | Tesi di dottorato |
|---|---|
| Resource language: | English |
| Title: | A Control Architecture for Unmanned Aerial Vehicles Operating in Human-Robot Team for Service Robotic Tasks |
| Creators: | Creators Email Cacace, Jonathan jonathan.cacace@unina.it |
| Date: | 27 March 2016 |
| Number of Pages: | 147 |
| Institution: | Università degli Studi di Napoli Federico II |
| Department: | Ingegneria Elettrica e delle Tecnologie dell'Informazione |
| Scuola di dottorato: | Ingegneria dell'informazione |
| Dottorato: | Ingegneria informatica ed automatica |
| Ciclo di dottorato: | 28 |
| Coordinatore del Corso di dottorato: | nome email Garofalo, Francesco francesco.garofalo@unina.it |
| Tutor: | nome email Lippiello, Vincenzo UNSPECIFIED |
| Date: | 27 March 2016 |
| Number of Pages: | 147 |
| Keywords: | HRI Uav robotics |
| Settori scientifico-disciplinari del MIUR: | Area 09 - Ingegneria industriale e dell'informazione > ING-INF/04 - Automatica |
| Additional information: | The thesis has been developed at Prisma Lab (www.prisma.unina.it) |
| Date Deposited: | 03 May 2016 13:05 |
| Last Modified: | 31 Oct 2016 11:14 |
| URI: | http://www.fedoa.unina.it/id/eprint/10745 |
Collection description
In this thesis a Control architecture for an Unmanned Aerial Vehicle (UAV) is presented. The aim of the thesis is to address the problem of control a flying robot operating in human robot team at different level of abstraction. For this purpose, three different layers in the design of the architecture were considered, namely, the high level, the middle level and the low level layers. The special case of an UAV operating in service robotics tasks and in particular in Search&Rescue mission in alpine scenario is considered. Different methodologies for each layer are presented with simulated or real-world experimental validation.
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