Control of Ground and Aerial Robots

The focus of this book is kinematic and dynamic control of a single mobile robot or a groupof them. New simple and integrated solutions are presented for tasks of positioning, trajectory tracking and path following. Control of Ground and Aerial Robots synthesizes new results on control of mobile robots developed by M.Sc. and Ph.D. students supervised by the authors. The robots considered are wheeled mobile platforms, withemphasis on differential drive vehicles, and the multirotor aerialrobots. Integrated control solutions based on the technique offeedback linearization are proposed to guide either a single robot or ahomogeneous/heterogeneous group of mobile robots. Examples on theuse of the proposed controllers are also provided. Finally, Control of Ground and Aerial Robots is intended to helpgraduate and advanced undergraduate students in engineering, as well as researchers in the area of robot control, to design controllers to autonomouslyguide the more common mobile platforms.