The document discusses aerial robotics and is presented by Vijay Kumar, a professor of mechanical engineering at Chitkara University. It introduces the topics of remotely piloted vehicles, unmanned aerial vehicles, drones and their use of four rotors powered by independent motors. It also discusses modelling, state estimation, flight controls, motion planning and the dynamics of aerial robotics.

1. Vijay Kumar
Professor
Mechanical Engineering
Chitkara University
Introduction to
Aerial Robotics

2. V. K. Jadon, Prof., Mechanical Engineering, Chitkara University
Aerial Robotics
Robotics is an engineering discipline dealing with the
design, construction, and operation of robots.
Robotics Industry Association (RIA) defines robots as a
re-programmable, multi functional manipulator designed
to move material, parts, tools or specialized devices
through variable programmed motion for a variety of tasks
An aerial robot is a system capable of sustained flight with
no direct human control and able to perform a specific task

3. V. K. Jadon, Prof., Mechanical Engineering, Chitkara University
Remotely Piloted Vehicle (RPV)
Unmanned Aerial Vehicle (UAV)
Drone
Four rotors powered by
independent motors mounted
on a fixed frame

4. Modelling
State Estimation
Flight Controls
Motion Planning
Aerial Robotics
V. K. Jadon, Prof., Mechanical Engineering, Chitkara University

5. Dynamics Model
It is a complex mathematic process that heavily depends on the good
understanding of
V. K. Jadon, Prof., Mechanical Engineering, Chitkara University
Frame Rotations, Representations and Coordinate Systems
Rigid Body Dynamics Modelling
Derivation of Aerodynamic Forces
How do we write a dynamic model of any system?
Why do we need a model?
Why do we need a dynamic model?

6. The process of using data coming from different on-board
sensors in order to estimate the state of the vehicle Accelerometers
Gyroscopes
Magnetometer
GPS (Global Positioning System)
Camera systems
LiDAR (Light Detection And Ranging)
Design of an Inertial
Navigation System
State Estimation
V. K. Jadon, Prof., Mechanical Engineering, Chitkara University
Position, orientation and other high-order states
The sensor data fused to estimate the full state in
a bias-free and accurate way in high-update rates.
Typical sensors employed

7. The Flight Control System is responsible to ensure the stability of the vehicle
and guarantee perfect trajectory tracking despite possible uncertainty in the
modelled dynamics and the effects of external disturbances.
We will discuss some basic methods on flight control
Specifically, we will cover Proportional Integral Derivative control
Flight Control System
V. K. Jadon, Prof., Mechanical Engineering, Chitkara University
Flight Control System design relies on concepts of
control theory
𝑢1 𝑡
= 𝑚(𝑧 𝑑𝑒𝑠
′′
+ 𝑔 + 𝑘 𝑑 𝑒′
+ 𝑘 𝑝 𝑒)

8. Collision-free Navigation
Inspection Path Planning
Target Follow
Coordinated Motion
Collaborative Aerial Manipulation
Path Planning
V. K. Jadon, Prof., Mechanical Engineering, Chitkara University
Path planning is the process of deriving the path that the robot should follow in
order to ensure safe navigation and successfully execute its mission.

9. Thanks
V. K. Jadon, Prof., Mechanical Engineering, Chitkara University