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
Lingua: English
Title: A Control Architecture for Unmanned Aerial Vehicles Operating in Human-Robot Team for Service Robotic Tasks
Creators:
CreatorsEmail
Cacace, Jonathanjonathan.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:
nomeemail
Garofalo, Francescofrancesco.garofalo@unina.it
Tutor:
nomeemail
Lippiello, VincenzoUNSPECIFIED
Date: 27 March 2016
Number of Pages: 147
Uncontrolled 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

Abstract

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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