Multi-rotor Real-time Control based on Visual Servoing of Evolving Features

Aspragkathos, Sotirios; Ασπράγκαθος, Σωτήριος

dc.contributor.author	Aspragkathos, Sotirios
dc.contributor.author	Ασπράγκαθος, Σωτήριος
dc.date.accessioned	2024-09-12T07:17:28Z
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/60205
dc.identifier.uri	http://dx.doi.org/10.26240/heal.ntua.27901
dc.rights	Αναφορά Δημιουργού - Μη Εμπορική Χρήση - Παρόμοια Διανομή 3.0 Ελλάδα	*
dc.rights.uri	http://creativecommons.org/licenses/by-nc-sa/3.0/gr/	*
dc.subject	Robotics control theory	en
dc.subject	Autonomous systems	en
dc.subject	Visual servoing	en
dc.subject	Unmanned aerial vehicles	en
dc.subject	Target tracking	en
dc.title	Multi-rotor Real-time Control based on Visual Servoing of Evolving Features	en
dc.title	Έλεγχος μη επανδρωμένου εναέριου οχήματος που βασίζεται στην οπτική ανατροφοδότηση στόχων με εξελισσόμενα χαρακτηριστικά	el
dc.contributor.department	Mechanical Design & Automatic Control - Control Systems Laboratory	el
heal.type	doctoralThesis
heal.classification	Robotics	en
heal.classification	Ρομποτική	el
heal.dateAvailable	2025-09-11T21:00:00Z
heal.language	en
heal.access	embargo
heal.recordProvider	ntua	el
heal.publicationDate	2024-06-27
heal.abstract	Unmanned Aerial Vehicles (UAVs), colloquially known as drones, have undergone significant evolution driven by dynamic characteristics. This dissertation explores the transformative role of integrated cameras in UAVs, revolutionizing data acquisition, analysis, and creative expression. As the capabilities of camera equipped drones expand, visual servoing, a key technique merging robotics and computer vision, enables precise control and manipulation based on visual feedback. Emphasizing advanced cameras in robotics, especially UAVs, the study addresses challenges in tracking dynamic targets with evolving features. The research introduces innovative methods, overcoming limitations in existing visual serving approaches and enhancing control strategies for real-world surveillance applications. The focus is on developing adaptable control systems that handle unknown attributes of dynamic targets. The dissertation delves into refining control strategies using evolving image moments and advanced computer vision techniques, ensuring stability and resilience in tracking challenging targets. This research contributes to UAV evolution by addressing challenges posed by targets with evolving features, offering innovative solutions for aerial surveillance and tracking. As technology continues to advance and the demands of surveillance applications evolve, the findings of this dissertation aim to not only address unique challenges posed by targets with evolving features but also to augment the toolkit of UAV capabilities. The provided innovative solutions are poised to push the boundaries of aerial surveillance and tracking possibilities, providing valuable contributions to the ongoing evolution of UAV capabilities in the ever-changing landscape of technology and surveillance needs.	en
heal.advisorName	Κυριακόπουλος, Κώστας
heal.advisorName	Kyriakopoulos, Kostas
heal.committeeMemberName	Κυριακόπουλος, Κώστας
heal.committeeMemberName	Kyriakopoulos, Kostas
heal.committeeMemberName	Παπαδόπουλος, Ευάγγελος
heal.committeeMemberName	Papadopoulos, Evangelos
heal.committeeMemberName	Καρράς, Γιώργος
heal.committeeMemberName	Karras, George
heal.committeeMemberName	Αντωνιάδης, Ιωάννης
heal.committeeMemberName	Antoniadis, Ioannis
heal.committeeMemberName	Γαστεράτος, Αντώνιος
heal.committeeMemberName	Gasteratos, Antonios
heal.committeeMemberName	Κουλοχέρης, Δημήτριος
heal.committeeMemberName	Koulocheris, Dimitrios
heal.committeeMemberName	Πουλακάκης, Ιωάννης
heal.committeeMemberName	Poulakakis, Ioannis
heal.academicPublisher	Σχολή Μηχανολόγων Μηχανικών	el
heal.academicPublisherID	ntua
heal.fullTextAvailability	false