Knot-tying with flying machines for aerial construction

Augugliaro, Federico; Zarfati, Emanuele; Mirjan, Ammar; D’Andrea, Raffaello

doi:10.1109/iros.2015.7354218

Cited by 15 publications

(4 citation statements)

References 19 publications

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“…In [85], the authors employed quadcopters with a set of simple construction elements such as ropes, cables, and wires to build lightweight tensile structures. In [86], a framework was presented to enable quadcopters to perform one of the main challenges in building tensile structures, i.e. knot-tying, and an iterative learning algorithm was discussed to improve the quality of the resulting knots.…”

Section: Aerial Manipulation Missionsmentioning

confidence: 99%

Estimation and control of a manipulating unmanned aerial vehicle

Khamseh¹

2021

Preprint

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A Manipulating Unmanned Aerial Vehicle (MUAV) is an aerial platform equipped with a mechanism to physically interact with its environment. The interaction is realized by means of robotic arm(s), vehicle body or suspension cable(s) and enables a wide range of novel applications including perching, grasping, pick–and–place, load transportation, etc. However, this is a challenging task as MUAVs are inherently unstable platforms with highly nonlinear and coupled dynamics, often associated with moving parts that result in complex modelling, estimation and control problems. This thesis deals with the problem of estimation and control of MUAVs. First, a comprehensive literature survey covering various aspects of MUAVs such as those related to modelling, estimation and control is presented. In the first approach for MUAV state estimation and control, effects of robotic manipulator on Unmanned Aerial Vehicle (UAV) dynamic equations of motion is treated by adding process noise with unknown noise statistics to conventional UAV dynamic model. With that in mind, state estimating and control of a UAV by means of conventional Kalman filters and their adaptive counterparts are formulated. Having designed Linear Quadratic Regulator (LQR) laws, it is shown that adaptive Kalman filters provide accurate satisfactory estimation and overall control of a UAV, even with simultaneous uncertain process and measurement noise statistics. Next, in order to improve the estimation and overall control performance of the previous approach, full nonlinear and coupled dynamic modelling of a MUAV based on Euler–Lagrange formulation is presented. Then, a General Unscented Kalman Filter (GUKF) is proposed to accomplish full state estimation of a MUAV, along with LQR control laws. Finally, in order to improve the execution time of GUKF, a computationally–efficient UKF known as Scaled Spherical UKF (SSUKF) with estimation and overall control performance comparable to GUKF is formulated. It is shown that both UKF–based algorithms result in satisfactory estimation and setpoint/trajectory tracking of quadcopter UAV and its robotic manipulator, even in scenarios with increased noise level and a period of total outage of sensory data.

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Section: Aerial Manipulation Missionsmentioning

confidence: 99%

Estimation and control of a manipulating unmanned aerial vehicle

Khamseh¹

2021

Preprint

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“…By precisely calculated maneuvers, the quadcopters are able to assemble new fiber nodes in space. Except for the required anchor points at both ends of the structure, the demonstrators' connections and links are entirely realized by the flying machines (Augugliaro et al 2015).…”

Section: Multi-robot Fabricationmentioning

confidence: 99%

Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures

et al. 2020

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This research presents a cooperative heterogeneous multi-robot fabrication system for the spatial winding of filament materials. The system is based on the cooperation of a six-axis robotic arm and a customized 2 + 2 axis CNC gantry system. Heterogeneous multi-robot cooperation allows to deploy the strategy of Spatial Winding: a new method of sequential spatial fiber arrangement, based on directly interlocking filament-filament connections, achieved through wrapping one filament around another. This strategy allows to create lightweight non-regular fibrous space frame structures. The new material system was explored through physical models and digital simulations prior to deployment with the proposed robotic fabrication process. An adaptable frame setup was developed which allows the fabrication of a variety of geometries within the same frame. By introducing a multi-step curing process that integrates with the adaptable frame, the iterative production of continuous large-scale spatial frame structures is possible. This makes the structure’s scale agnostic of robotic reach and reduces the necessary formwork to the bare minimum. Through leveraging the capacities of two cooperating machines, the system allows to counteract some of their limitations. A flexible, dynamic and collaborative fabrication system is presented as a strategy to tailor the fiber in space and expand the design possibilities of lightweight fiber structures. The artifact of the proposed fabrication process is a direct expression of the material tectonics and the robotic fabrication system.

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“…In order to achieve greater versatility, [282] mixed two-component polyurethane and right away printed the material by an airborne robot. In the context of airborne construction, there have also been efforts to let quadcopters build tensile structures from threads or ropes [283][284][285].…”

Section: Materials For Self-organized Constructionmentioning

confidence: 99%

“…Precautions must be taken accordingly-for instance by provision of accurate values of remaining energy. Due to their reliable and robust flight, quadcopters have been studied in the context of construction tasks [275,[282][283][284][285]292,293]. In airborne contexts, however, the transport and deployment of construction materials is even harder than on the ground.…”

Section: Robotic Hardware For Self-organized Constructionmentioning

confidence: 99%

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

Heinrich

Mammen

Hofstadler

et al. 2019

J. R. Soc. Interface.

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Biohybrid robotics takes an engineering approach to the expansion and exploitation of biological behaviours for application to automated tasks. Here, we identify the construction of living buildings and infrastructure as a high-potential application domain for biohybrid robotics, and review technological advances relevant to its future development. Construction, civil infrastructure maintenance and building occupancy in the last decades have comprised a major portion of economic production, energy consumption and carbon emissions. Integrating biological organisms into automated construction tasks and permanent building components therefore has high potential for impact. Live materials can provide several advantages over standard synthetic construction materials, including self-repair of damage, increase rather than degradation of structural performance over time, resilience to corrosive environments, support of biodiversity, and mitigation of urban heat islands. Here, we review relevant technologies, which are currently disparate. They span robotics, self-organizing systems, artificial life, construction automation, structural engineering, architecture, bioengineering, biomaterials, and molecular and cellular biology. In these disciplines, developments relevant to biohybrid construction and living buildings are in the early stages, and typically are not exchanged between disciplines. We, therefore, consider this review useful to the future development of biohybrid engineering for this highly interdisciplinary application.

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Knot-tying with flying machines for aerial construction

Cited by 15 publications

References 19 publications

Estimation and control of a manipulating unmanned aerial vehicle

Estimation and control of a manipulating unmanned aerial vehicle

Spatial winding: cooperative heterogeneous multi-robot system for fibrous structures

Constructing living buildings: a review of relevant technologies for a novel application of biohybrid robotics

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