5 accepted papers
Parametric dynamic movement primitives (PDMPs) are powerful motion representation algorithms, which encode multiple demonstrations and generalize them. As an online trajectory from PDMPs emulates the provided demonstrations, managing the safety guarantee of the demonstrations for a given scenario is
This paper presents a motion planning approach for an aerial pick-and-place task where an aerial manipulator is supposed to pick up or place an object at locations specified as way-points. In particular, we focus on situations where such way-point constraints are imposed on certain partial state var…
This letter presents a viable framework that integrates control, estimation of unknown payload, safety management, and obstacle avoidance for cooperative transportation in unknown environments using multiple aerial manipulators. Unlike existing approaches for cooperative manipulation based on force
This paper presents a motion planning approach for cooperative transportation using aerial robots. We describe a framework based on Parametric Dynamic Movement Primitives (PDMPs) for coordinating multiple aerial robots and their manipulators quickly in an environment cluttered with obstacles. In ord…
This paper presents planning and control of multiple aerial manipulators for cooperative transportation. Individual aerial manipulators which consist of a hexacopter and 2-DOF robotic arm are controlled by an augmented adaptive sliding mode controller based on a closed-chain robot dynamics. The desi…