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Springer Handbook of Robotics pp 623–670Cite as

Flying Robots

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Abstract

Unmanned aircraft systems (GlossaryTerm

UAS

s) have drawn increasing attention recently, owing to advancements in related research, technology, and applications. While having been deployed successfully in military scenarios for decades, civil use cases have lately been tackled by the robotics research community.

This chapter overviews the core elements of this highly interdisciplinary field; the reader is guided through the design process of aerial robots for various applications starting with a qualitative characterization of different types of UAS. Design and modeling are closely related, forming a typically iterative process of drafting and analyzing the related properties. Therefore, we overview aerodynamics and dynamics, as well as their application to fixed-wing, rotary-wing, and flapping-wing UAS, including related analytical tools and practical guidelines. Respecting use-case-specific requirements and core autonomous robot demands, we finally provide guidelines to related system integration challenges.

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Abbreviations

2-D:

two-dimensional

2.5-D:

two-and-a-half-dimensional

3-D:

three-dimensional

6-D:

six-dimensional

AC:

aerodynamic center

AIAA:

American Institute of Aeronautics and Astronautics

AOA:

angle of attack

BEMT:

blade element momentum theory

BET:

blade element theory

CFD:

computational fluid dynamics

COG:

center of gravity

DC:

direct current

DOF:

degree of freedom

EKF:

extended Kalman filter

FCU:

flight control-unit

Fl-UAS:

flapping wing unmanned aerial system

FW:

fixed-wing

GIS:

geographic information system

GPS:

global positioning system

ISA:

international standard atmosphere

LEV:

leading edge vortex

LiPo:

lithium polymer

LQR:

linear quadratic regulator

LtA-UAS:

lighter-than-air system

LtA:

lighter-than-air

MIMO:

multiple-input–multiple-output

MPC:

model predictive control

MT:

momentum theory

NASA:

National Aeronautics and Space Agency

NDI:

nonlinear dynamic inversion

NOAA:

National Oceanic and Atmospheric Administration

PL:

power loading

RSTA:

reconnaissance, surveillance, and target acquisition

RW:

rotary-wing

SAS:

stability augmentation system

SISO:

single input single-output

SLAM:

simultaneous localization and mapping

SM:

static margin

SOS:

save our souls

TECS:

total energy control system

UAS:

unmanned aircraft system

UAV:

unmanned aerial vehicle

UWB:

ultrawide band

VTOL:

vertical take-off and landing

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Author information

Authors and Affiliations

  1. South Kensington Campus, Department of Computing, Imperial College London, SW7 2AZ, London, UK

    Stefan Leutenegger

  2. Automation and Robotics R&D, Alstom Power Thermal Services, Brown Boveri Strasse 7, 5401, Baden, Switzerland

    Christoph Hürzeler

  3. Department Mechanical Engineering, Stanford University, 416 Escondido Mall, CA 94305-3030, Stanford, USA

    Amanda K. Stowers

  4. Institute of Robotics and Intelligent Systems, ETH Zurich, Tannenstrasse 3, 8092, Zurich, Switzerland

    Kostas Alexis

  5. Autonomous Systems Laboratory, ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland

    Markus W. Achtelik

  6. Department of Mechanical Engineering, Stanford University, 416 Escondido Mall, CA 94305, Stanford, USA

    David Lentink

  7. Department of Mechanical Engineering, University of Nevada, 3141 Chestnut Street, PA 19104, Las Vegas, USA

    Paul Y. Oh

  8. Department of Mechanical Engineering, ETH Zurich, Leonhardstrasse 21, 8092, Zurich, Switzerland

    Roland Siegwart

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  1. Stefan Leutenegger
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  2. Christoph Hürzeler
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  4. Kostas Alexis
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  5. Markus W. Achtelik
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  7. Paul Y. Oh
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  8. Roland Siegwart
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Corresponding author

Correspondence to Stefan Leutenegger .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Delfly II in hover available from http://handbookofrobotics.org/view-chapter/26/videodetails/493

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AtlantikSolar field-trials available from http://handbookofrobotics.org/view-chapter/26/videodetails/602

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senseSoar UAV Avionics testing available from http://handbookofrobotics.org/view-chapter/26/videodetails/603

:

Structural inspection path planning via iterative viewpoint resamplingwith application to aerial robotics available from http://handbookofrobotics.org/view-chapter/26/videodetails/604

:

sFly: Visual-inertial SLAM for a small helicopter in large outdoor environments available from http://handbookofrobotics.org/view-chapter/26/videodetails/688

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UAV stabilization, mapping & obstacle avoidance using VI-sensor available from http://handbookofrobotics.org/view-chapter/26/videodetails/689

:

Project Skye – autonomous blimp available from http://handbookofrobotics.org/view-chapter/26/videodetails/690

:

Flight stability in aerial redundant manipulators available from http://handbookofrobotics.org/view-chapter/26/videodetails/693

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The astounding athletic power of quadcopters available from http://handbookofrobotics.org/view-chapter/26/videodetails/694

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Robots that fly … and cooperate available from http://handbookofrobotics.org/view-chapter/26/videodetails/695

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A robot that flies like a bird available from http://handbookofrobotics.org/view-chapter/26/videodetails/696

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Robotic insects make first controlled flight available from http://handbookofrobotics.org/view-chapter/26/videodetails/697

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Towards valve turning using a dual-arm aerial manipulator available from http://handbookofrobotics.org/view-chapter/26/videodetails/719

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Leutenegger, S. et al. (2016). Flying Robots. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_26

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