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Publications (10 of 18) Show all publications
Fresk, E. & Nikolakopoulos, G. (2018). A generalized Frame Adaptive MPC for the low-level control of UAVs. In: 2018 European Control Conference (ECC): . Paper presented at European Control Conference, Cyprus, Limasson, 12-15 June, 2018 (pp. 1815-1820). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>A generalized Frame Adaptive MPC for the low-level control of UAVs
2018 (English)In: 2018 European Control Conference (ECC), Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1815-1820Conference paper, Published paper (Refereed)
Abstract [en]

The aim of this article is to establish an adaptiveModel Predictive Control (MPC) scheme for the angular rate and thrust control of a multirotor Unmanned Aerial Vehicle (UAV). The proposed model adaptiveness comes from estimating the movement of the Center of Gravity (CoG) combined withthe thrust constant of the motors, making the system robust to disturbances and fast to adapt to changing parameters, while also taking under consideration the control signal bounds in order to guarantee for no motor stalls, while flying. The linear requirements of the MPC are adhered to by transforming the estimation and control problem into a control signal squared domain, making the system linear. The efficacy of the proposed estimation and control scheme is presented in simulations where worst case scenarios have been considered.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2018
Keywords
UAV; Adaptive Control; System Identification
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-69752 (URN)10.23919/ECC.2018.8550210 (DOI)000467725301136 ()2-s2.0-85059820331 (Scopus ID)978-3-9524-2698-2 (ISBN)978-1-5386-5303-6 (ISBN)
Conference
European Control Conference, Cyprus, Limasson, 12-15 June, 2018
Projects
AEROWORKS (Grant Agreement No. 644128)SIMS (Grant Agreement No. 730302)
Available from: 2018-06-21 Created: 2018-06-21 Last updated: 2019-06-18Bibliographically approved
Kanellakis, C., Mansouri, S. S., Fresk, E., Kominiak, D. & Nikolakopoulos, G. (2018). Cooperative UAVs as a Tool for Aerial Inspection of Large Scale Aging Infrastructure. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Madrid, Spain,1-5 Oct. 2018 (pp. 5040-5040). Piscataway, NJ: IEEE
Open this publication in new window or tab >>Cooperative UAVs as a Tool for Aerial Inspection of Large Scale Aging Infrastructure
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2018 (English)In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Piscataway, NJ: IEEE, 2018, p. 5040-5040Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

This work presents an aerial tool towards the autonomous cooperative coverage and inspection of a large scale 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). In the presented approach the UAVs are relying only on their onboard computer and sensory system, deployed for inspection of the 3D structure. In this application each agent covers a different part of the scene autonomously, while avoiding collisions. The autonomous navigation of each platform on the designed path is enabled by the localization system that fuses Ultra Wideband with inertial measurements through an Error- State Kalman Filter. The visual information collected from the aerial team is collaboratively processed to create the 3D model. The performance of the overall setup has been experimentally evaluated in realistic wind turbine inspection experiments, providing dense 3D reconstruction of the inspected structures.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE, 2018
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858, E-ISSN 2153-0866
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-72850 (URN)10.1109/IROS.2018.8593996 (DOI)000458872704097 ()978-1-5386-8095-7 (ISBN)978-1-5386-8094-0 (ISBN)978-1-5386-8093-3 (ISBN)
Conference
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),Madrid, Spain,1-5 Oct. 2018
Funder
EU, Horizon 2020
Note

abstarct + video

Available from: 2019-02-12 Created: 2019-02-12 Last updated: 2019-03-27Bibliographically approved
Fresk, E. (2018). The Core of Aerial Robotic Workers: Generalized Modeling, Estimation, and Control. (Doctoral dissertation). Luleå: Luleå University of Technology
Open this publication in new window or tab >>The Core of Aerial Robotic Workers: Generalized Modeling, Estimation, and Control
2018 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

In this thesis we are going to explore what the operational core, both mathematically and algorithmically, of an Aerial Robotic Worker consists of, in order to estimate its egomotion and parameters, and adaptively control the aerial vehicle. Moreover, the aim of this thesis is to be a condensed reference for the corresponding areas of aerial robotics, in order to provide a stable and complete foundation on which one can continue research on. The areas that are covered in this Thesis are: 1) the fundamental modeling of the generalized aerial vehicle, where the kinematics, sensors and motor/thrust models will be presented together with simplified models for the motor characteristics, which will form the basis for all the future derivations, 2) how to model, calibrate and compensate for the errors existing in, and induced into, cheap accelerometers and gyroscopes, as these sensors constitute the aerial platform's core sensor suite as the inertial sensor. Successful methodologies and results are presented and evaluated to show that the cost of calibration can be dramatically reduced without loss of accuracy nor mechanical complexity. 3) How to perform inertial sensor driven egomotion and parameter estimation to lay the foundation for adaptive control strategies, where specific weight will be put on the successful development of a new profound sensory system which has the possibility to replace GPS in robotics applications, while also being able to perform indoors and in GPS denied environments, and which was the core of the localization module done in the AEROWORKS project, enabling the full, high accuracy localization around tall, GPS interfering infrastructure. And finally 4) how to utilize the estimation in low and high-level adaptive controllers, where specific results on how to successfully compensate for the movement of the center of gravity, together with the reduction of thrust over time due to declining battery voltage. Moreover we will explore the use case of Aerial Robotic Workers in real life applications and we will identify and comment on potential future directions of these aerial robotic systems and the impact theses can have in both research and society.

Place, publisher, year, edition, pages
Luleå: Luleå University of Technology, 2018
Series
Doctoral thesis / Luleå University of Technology 1 jan 1997 → …, ISSN 1402-1544
Keywords
Aerial robotics, generalized modeling, generalized estimation, generalized control
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-70980 (URN)978-91-7790-211-9 (ISBN)978-91-7790-212-6 (ISBN)
Public defence
2018-11-08, A109, Lulea University of Technology, Lulea, 09:00 (English)
Opponent
Supervisors
Available from: 2018-09-25 Created: 2018-09-25 Last updated: 2018-10-24Bibliographically approved
Fresk, E., Nikolakopoulos, G. & Gustafsson, T. (2017). A Generalized Reduced-Complexity Inertial Navigation System for Unmanned Aerial Vehicles (ed.). IEEE Transactions on Control Systems Technology, 25(1), 192-207
Open this publication in new window or tab >>A Generalized Reduced-Complexity Inertial Navigation System for Unmanned Aerial Vehicles
2017 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. 25, no 1, p. 192-207Article in journal (Refereed) Published
Abstract [en]

In this paper, a generic approach to attitude and position estimation, suited for any type of unmanned aerial vehicle, is presented. This will be achieved by establishing a generic framework, which can be extended using adaptive methods to determine the thrust properties of the engines and the mass of the aircraft, while keeping the overall computational complexity of the system low. Furthermore, the effect of magnetic disturbances will be reduced in a novel way by confining the magnetic errors to affect only heading, without compromising the pitch and roll estimation of the system with error-based estimation. The efficacy of the proposed framework will be evaluated through extended simulations and experimental validations on a multirotor. Finally, guidelines will be provided toward: 1) an implementation with a reduced computational complexity and 2) the utilization of the square-root formulations of the extended Kalman filter for extending the dynamic range of the filter.  

Place, publisher, year, edition, pages
IEEE, 2017
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-15975 (URN)10.1109/TCST.2016.2542022 (DOI)000391498700016 ()2-s2.0-84963657298 (Scopus ID)f8f7825a-d3c5-4ac9-9ccc-5fa1819c5264 (Local ID)f8f7825a-d3c5-4ac9-9ccc-5fa1819c5264 (Archive number)f8f7825a-d3c5-4ac9-9ccc-5fa1819c5264 (OAI)
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Validerad; 2017; Nivå 2; 2017-02-10 (andbra)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-09-14Bibliographically approved
Wuthier, D., Kominiak, D., Fresk, E. & Nikolakopoulos, G. (2017). A Geometric Pulling Force Controller for Aerial Robotic Workers. Paper presented at 20th IFAC World Congress, Toulouse, France, 9-14 July 2017. IFAC-PapersOnLine, 50(1), 10287-10292
Open this publication in new window or tab >>A Geometric Pulling Force Controller for Aerial Robotic Workers
2017 (English)In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 10287-10292Article in journal (Refereed) Published
Abstract [en]

The aim of this article is to establish a geometric, pulling force control scheme in order to enable the concept of Aerial Robotic Workers (ARWs), where the capabilities of the Unmanned Aerial Vehicles (UAVs) are enhanced by aerial manipulators in order to exert known pulling forces on the environment, with characteristic applications such as levers actuation, debris removal and safety assessments. The proposed novel approach consists of interfacing a cascaded position control scheme with a manipulation framework in such a way that the UAV, together with the manipulator are being controlled in a complete system The validity of the proposed scheme as well as the ability of the UAV to track a desired pulling force is validated through a real-world experiment.

Place, publisher, year, edition, pages
Elsevier, 2017
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-66202 (URN)10.1016/j.ifacol.2017.08.1487 (DOI)000423965100209 ()2-s2.0-85031804519 (Scopus ID)
Conference
20th IFAC World Congress, Toulouse, France, 9-14 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Konferensartikel i tidskrift

Available from: 2017-10-20 Created: 2017-10-20 Last updated: 2018-06-11Bibliographically approved
Mansouri, S. S., Kanellakis, C., Fresk, E., Kominiak, D. & Nikolakopoulos, G. (2017). Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure. In: Marco Hutter, Roland Siegwart (Ed.), Field and Service Robotics: Results of the 11th International Conference. Paper presented at 11th Conference on Field and Service Robotics, FSR 2017, Zürich, 12.-15.9.2017 (pp. 177-189). Cham: Springer
Open this publication in new window or tab >>Cooperative UAVs as a tool for Aerial Inspection of the Aging Infrastructure
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2017 (English)In: Field and Service Robotics: Results of the 11th International Conference / [ed] Marco Hutter, Roland Siegwart, Cham: Springer, 2017, p. 177-189Conference paper, Published paper (Refereed)
Abstract [en]

This article presents an aerial tool towards the autonomous cooperative coverage and inspection of a 3D infrastructure using multiple Unmanned Aerial Vehicles (UAVs). In the presented approach the UAVs are relying only on their onboard computer and sensory system, deployed for inspection of the 3D structure. In this application each agent covers a different part of the scene autonomously, while avoiding collisions. The visual information collected from the aerial team is collaboratively processed to create the 3D model. The performance of the overall setup has been experimentally evaluated in a realistic outdoor infrastructure inspection experiments, providing sparse and dense 3D reconstruction of the inspected structures.

Place, publisher, year, edition, pages
Cham: Springer, 2017
Series
Springer Proceedings in Advanced Robotics, ISSN 2511-1256 ; 5
National Category
Robotics Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-66211 (URN)10.1007/978-3-319-67361-5_12 (DOI)978-3-319-67360-8 (ISBN)978-3-319-67361-5 (ISBN)
Conference
11th Conference on Field and Service Robotics, FSR 2017, Zürich, 12.-15.9.2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Available from: 2017-10-22 Created: 2017-10-22 Last updated: 2018-05-29Bibliographically approved
Fresk, E., Mansouri, S. S., Kanellakis, C., Halén, E. & Nikolakopoulos, G. (2017). Reduced complexity calibration of MEMS IMUs. In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017: . Paper presented at 25th Mediterranean Conference on Control and Automation, MED 2017, University of Malta, Valletta, Malta, 3-6 July 2017 (pp. 1316-1320). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), Article ID 7984300.
Open this publication in new window or tab >>Reduced complexity calibration of MEMS IMUs
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2017 (English)In: 2017 25th Mediterranean Conference on Control and Automation, MED 2017, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1316-1320, article id 7984300Conference paper, Published paper (Refereed)
Abstract [en]

In this article a reduced complexity calibration method for Micro-Electro-Mechanical Systems (MEMS) Inertial Measurement Units (IMUs) will be presented, which does not need the rotating reference tables, commonly used in the gyroscope calibration. As it will be presented, in the proposed novel scheme fixed angle rotations have been utilized to observe the integral of the gyroscope signals to find the corresponding sensitivity, axis misalignment and acceleration sensitivity matrices. This appraoch has the significant merit of high norm accuracy, easiness of use, low cost and simplicity in construction, thus allowing anyone with a basic electronics knowledge to calibrate an IMU.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
Mediterranean Conference on Control and Automation, ISSN 2325-369X
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-65447 (URN)10.1109/MED.2017.7984300 (DOI)000426926300215 ()2-s2.0-85027890795 (Scopus ID)9781509045334 (ISBN)
Conference
25th Mediterranean Conference on Control and Automation, MED 2017, University of Malta, Valletta, Malta, 3-6 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Available from: 2017-09-01 Created: 2017-09-01 Last updated: 2019-04-03Bibliographically approved
Fresk, E., Ödmark, K. & Nikolakopoulos, G. (2017). Ultra WideBand enabled Inertial Odometry for Generic Localization. Paper presented at 20th IFAC World Congress, Toulouse, France, 9-14 July 2017. IFAC-PapersOnLine, 50(1), 11465-11472
Open this publication in new window or tab >>Ultra WideBand enabled Inertial Odometry for Generic Localization
2017 (English)In: IFAC-PapersOnLine, ISSN 1045-0823, E-ISSN 1797-318X, Vol. 50, no 1, p. 11465-11472Article in journal (Refereed) Published
Abstract [en]

In this paper we will present a inertial odometry localization system, utilizing Ultra WideBand distance measurements for corrections, as a generic localization solution. The proposed scheme is evaluated in two different measurement schemes, one cyclic and one based on stochastic events, which has the strong merit of minimizing the sampling rate, while adhering to covariance constraints on the state, allowing the system to conform with RF regulations. The efficacy of the proposed scheme is evaluated in extended experimental evaluation on an hexacopter Unmanned Aerial Vehicle

Place, publisher, year, edition, pages
Elsevier, 2017
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-66203 (URN)10.1016/j.ifacol.2017.08.1820 (DOI)000423965100397 ()2-s2.0-85031776500 (Scopus ID)
Conference
20th IFAC World Congress, Toulouse, France, 9-14 July 2017
Projects
Collaborative Aerial Robotic Workers, AEROWORKS
Funder
EU, Horizon 2020, 644128
Note

Konferensartikel i tidskrift

Available from: 2017-10-20 Created: 2017-10-20 Last updated: 2018-06-04Bibliographically approved
Lindgren, P., Fresk, E., Lindner, M., Lindner, A., Pereira, D. J. & Pinho, L. M. (2016). Abstract Timers and their Implementation onto the ARM Cortex-M family of MCUs (ed.). Paper presented at Embedded Systems Week 2015 : 04/10/2015 - 09/10/2015. , 13(1)
Open this publication in new window or tab >>Abstract Timers and their Implementation onto the ARM Cortex-M family of MCUs
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2016 (English)In: Vol. 13, no 1Article in journal (Refereed) Published
Abstract [en]

Real-Time For the Masses (RTFM) is a set of languages andtools being developed to facilitate embedded software developmentand provide highly ecient implementations gearedto static verication. The RTFM-kernel is an architecturedesigned to provide highly ecient and predicable Stack ResourcePolicy based scheduling, targeting bare metal (singlecore)platforms.We contribute by introducing a platform independent timerabstraction that relies on existing RTFM-kernel primitives.We develop two alternative implementations for the ARMCortex-M family of MCUs: a generic implementation, usingthe ARM dened SysTick/DWT hardware; and a targetspecic implementation, using the match compare/free runningtimers. While sacricing generality, the latter is moreexible and may reduce overall overhead. Invariants for correctnessare presented, and methods to static and run-timeverication are discussed. Overhead is bound and characterized.In both cases the critical section from release timeto dispatch is less than 2us on a 100MHz MCU. Queue andtimer mechanisms are directly implemented in the RTFMcorelanguage (-core in the following) and can be includedin system-wide scheduling analysis.

National Category
Embedded Systems Control Engineering
Research subject
Embedded System; Control Engineering
Identifiers
urn:nbn:se:ltu:diva-39517 (URN)e4d7eb1b-7017-41d4-860e-3fba546502ca (Local ID)e4d7eb1b-7017-41d4-860e-3fba546502ca (Archive number)e4d7eb1b-7017-41d4-860e-3fba546502ca (OAI)
Conference
Embedded Systems Week 2015 : 04/10/2015 - 09/10/2015
Note

Godkänd;2016;20151216 (maalin);Konferensartikel i tidskrift;Bibliografisk uppgift: Special Issue on 5th Embedded Operating Systems Workshop (EWiLi 2015)

Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2018-05-29Bibliographically approved
Carholt, C., Nikolakopoulos, G., Fresk, E. & Andrikopoulos, G. (2016). Design, Modelling and Control of a Single Rotor UAV (ed.). In: (Ed.), 24th Mediterranean Conference on Control and Automation,: June 21-24, Athens, Greece, 2016. Paper presented at 24th Mediterranean Conference on Control and Automation, MED 2016 (pp. 840-845). Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), Article ID 7536015.
Open this publication in new window or tab >>Design, Modelling and Control of a Single Rotor UAV
2016 (English)In: 24th Mediterranean Conference on Control and Automation,: June 21-24, Athens, Greece, 2016, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 840-845, article id 7536015Conference paper, Published paper (Refereed)
Abstract [en]

In this article, a novel Vertical Take-Off and Landing (VTOL) Single Rotor Unmanned Aerial Vehicle (SR- UAV) will be presented. The SRUAV’s design properties will be analysed in detail, with respect to technical novelties outlining the merits of such a conceptual approach. The system’s model will be mathematically formulated, while a cascaded P-PI and PID-based control structure will be utilized in extensive simulation trials for the preliminary evaluation of the SR-UAV’s attitude and translational performance.

Place, publisher, year, edition, pages
Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2016
Series
Mediterranean Conference on Control and Automation, E-ISSN 2325-369X
Keywords
Information technology - Automatic control, Informationsteknik - Reglerteknik
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
urn:nbn:se:ltu:diva-32989 (URN)10.1109/MED.2016.7536015 (DOI)000391154900140 ()2-s2.0-84986236347 (Scopus ID)7b105bbc-e1f3-422c-9f1c-645e0f8eb667 (Local ID)978-1-4673-8345-5 (ISBN)7b105bbc-e1f3-422c-9f1c-645e0f8eb667 (Archive number)7b105bbc-e1f3-422c-9f1c-645e0f8eb667 (OAI)
Conference
24th Mediterranean Conference on Control and Automation, MED 2016
Note

Godkänd; 2016; 20160419 (geonik)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-18Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-5735-5484

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