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dc.contributor.author
Papachristos, Christos
dc.contributor.author
Alexis, Kostas
dc.contributor.author
Tzes, Anthony
dc.contributor.editor
Boje, Edward
dc.contributor.editor
Xia, Xiaohua
dc.date.accessioned
2021-07-28T09:09:56Z
dc.date.available
2017-06-11T17:48:22Z
dc.date.available
2018-08-30T08:11:04Z
dc.date.available
2021-07-28T09:09:56Z
dc.date.issued
2014-09
dc.identifier.isbn
978-3-902823-62-5
en_US
dc.identifier.issn
1474-6670
dc.identifier.other
10.3182/20140824-6-ZA-1003.02692
en_US
dc.identifier.uri
http://hdl.handle.net/20.500.11850/101540
dc.description.abstract
An innovative application field for Unmanned Aerial Systems (UASs) is the subject of this paper. The aerial robotic execution of technical activities based on autonomous aerial platforms poses important challenges, as realistic industrial activities are physically demanding. Typical environment-modifying tasks, such as surface grinding, require the exertion of significant forces in order to be successfully executed. For such purposes, the exploitation of thrust-vectoring actuation is proposed, and a methodology for achieving longitudinal force exertion while retaining safe operation is developed, relying on the platform's exceptional actuation features, a piecewise-affine representation of the system modes, and an explicit model predictive control scheme. The experimental demonstration of the proposed strategy is conducted utilizing a compound UAS, consisting of a high-end tilt-rotor vehicle, mounted with an end-effector which carries a motorized tool customized for surface grinding tasks.
en_US
dc.language.iso
en
en_US
dc.publisher
Elsevier
en_US
dc.title
Technical activities execution with a TiltRotor UAS employing explicit model predictive control
en_US
dc.type
Conference Paper
dc.date.published
2016-04-25
ethz.book.title
19th IFAC World Congress, IFAC 2014. Proceedings
en_US
ethz.journal.title
IFAC Proceedings Volumes
ethz.journal.volume
47
en_US
ethz.journal.issue
3
en_US
ethz.pages.start
11036
en_US
ethz.pages.end
11042
en_US
ethz.event
19th World Congress of the International Federation of Automatic Control (IFAC 2014)
en_US
ethz.event.location
Cape Town, South Africa
en_US
ethz.event.date
August 24-29, 2014
en_US
ethz.identifier.scopus
ethz.publication.place
Oxford
en_US
ethz.publication.status
published
en_US
ethz.date.deposited
2017-06-11T17:48:47Z
ethz.source
ECIT
ethz.identifier.importid
imp5936533b9be8c42975
ethz.ecitpid
pub:159347
ethz.eth
yes
en_US
ethz.availability
Metadata only
en_US
ethz.rosetta.installDate
2017-07-13T17:46:24Z
ethz.rosetta.lastUpdated
2022-03-29T10:46:04Z
ethz.rosetta.versionExported
true
ethz.COinS
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