Aerial service robots for visual inspection of thermal power plant boiler systems

This work focuses on the use of MAVs for industrial inspection tasks. An efficient flight controller based on a model predictive control paradigm is developed. It allows for agile maneuvers in confined spaces while incorporating delays, saturations and inaccurate vehicle state estimates only availab...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Burri, M., Nikolic, J., Hurzeler, C., Caprari, G., Siegwart, R.
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Aerial Service Robots Boilers Cameras Inspection Mathematical model Model Predictive Control Trajectory Vehicles Visual-Inertial Motion Estimation Visualization
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