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In this paper, we introduce a coverage path planning algorithm for inspecting large structures optimized to generate highly accurate 3D models. Robotic inspection of structures such as aircrafts, bridges and buildings, is considered a critical task since missing any detail could affect the performance and integrity of the structures. Additionally, it is a time and resource intensive task that should...
This paper presents the work on attitude control of quad-rotor UAVs applying an intuitive kinematics representation, called rotation vector. There are three elements in the rotation vector which has clear physical meaning of the rotations and avoids the singularity problem of Euler angles and the unity norm constraint problem of quaternions. Basic definition of the rotation vector and its relation...
In this paper, we present a systematic procedure for the design of a controller for an autonomous helicopter. The studied model of the helicopter is a semi-linearized model, which includes some nonlinear parts that are separated from the linear blocks. The controller structure is a hierarchical controller which consists of two layers: the inner-loop controller that covers the linear parts of the model...
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