Experiments on coordinated motion of aerial robotic manipulators
Giuseppe Muscio, Francesco Pierri, Miguel Angel Trujillo, Elisabetta Cataldi, Gerardo Giglio, Gianluca Antonelli, Fabrizio Caccavale, Antidio Viguria
Abstract
In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in order to track such end-effectors trajectories coming from the upper layer. Finally the bottom layer is a low level motion controller, which tracks the motion references. The overall mission is decomposed in a set of elementary behaviors which are combined together, through the Null Space-based Behavioral (NSB) approach, into more complex compounds behaviors. The proposed framework has been tested conducting an experimental campaign.
BibTeX
@inproceedings{icra2016_experimentsoncoo,
title = {Experiments on coordinated motion of aerial robotic manipulators},
author = {Giuseppe Muscio and Francesco Pierri and Miguel Angel Trujillo and Elisabetta Cataldi and Gerardo Giglio and Gianluca Antonelli and Fabrizio Caccavale and Antidio Viguria and Stefano Chiaverini and Aníbal Ollero},
booktitle = {ICRA 2016},
year = {2016}
}