Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation
Open Access
- 22 December 2015
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Robotics and Automation Letters
- Vol. 1 (1), 259-266
- https://doi.org/10.1109/lra.2015.2510749
Abstract
In this letter, a hybrid visual servoing with a hierarchical task-composition control framework is described for aerial manipulation, i.e., for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique.Keywords
Funding Information
- ARCAS and AEROARMS large-scal
- European Community (FP7-ICT-287617, H2020-ICT-644271)
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