Foundations and Trends® in Robotics > Vol 7 > Issue 3

Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots

Christos Papachristos, University of Nevada, USA, cpapachristos@unr.edu Tung Dang, University of Nevada, USA, tung.dang@nevada.unr.edu Shehryar Khattak, University of Nevada, USA, shehryar@nevada.unr.edu Frank Mascarich, University of Nevada, USA, fmascarich@nevada.unr.edu Nikhil Khedekar, BITS Pilani, India, f20150075@goa.bits-pilani.ac.in Kostas Alexis, University of Nevada, USA, kalexis@unr.edu
 
Suggested Citation
Christos Papachristos, Tung Dang, Shehryar Khattak, Frank Mascarich, Nikhil Khedekar and Kostas Alexis (2018), "Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots", Foundations and Trends® in Robotics: Vol. 7: No. 3, pp 180-250. http://dx.doi.org/10.1561/2300000058

Publication Date: 27 Dec 2018
© 2018 C. Papachristos, T. Dang, S. Khattak, F. Mascarich, N. Khedekar and K. Alexis
 
Subjects
Planning and Control,  Robot Control,  Service Robotics,  Robot Localization and Navigation
 

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In this article:
1. Introduction
2. Brief History
3. Dynamics and Modeling
4. Flight Control
5. State Estimation and Localization
6. Autonomous Informative Path Planning
7. Further Methods and Applications
8. Conclusion
References

Abstract

This review paper aims to provide an overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS–denied environments, as well as path planning techniques for autonomous exploration is provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems. Further discussion for other applications of aerial robots concludes this manuscript.

DOI:10.1561/2300000058
ISBN: 978-1-68083-548-9
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Table of contents:
1. Introduction
2. Brief History
3. Dynamics and Modeling
4. Flight Control
5. State Estimation and Localization
6. Autonomous Informative Path Planning
7. Further Methods and Applications
8. Conclusion
References

Modeling, Control, State Estimation and Path Planning Methods for Autonomous Multirotor Aerial Robots

Autonomous aerial systems have recently been at the forefront of robotics research, and currently enjoy a continuously expanding range of applications wherein they are actively utilized. Commonly these are called drones, but this survey of the current state-of-the-art also considers “Micro Aerial Vehicles” in order to emphasize the increasingly advanced levels of autonomy and the small scale of such systems.

This monograph provides researchers, engineers and students with a comprehensive overview of core modeling, control, estimation, and planning concepts and approaches for micro aerial robots of the rotorcraft class. A comprehensive description of a set of methods that enable automated flight control, state estimation in GPS–denied environments, as well as path planning techniques for autonomous exploration is also provided, and serves as a holistic point of reference for those interested in the field of unmanned aerial systems.

This monograph will be a valuable starting point for researchers and developers working in the exciting area of aerial robots of the rotorcraft class, or drones.

 
ROB-058