Hybrid Visual Servoing With Hierarchical Task Composition for Aerial Manipulation

Lippiello, Vincenzo; Cacace, Jonathan; Santamaria-Navarro, Àngel; Andrade‐Cetto, Juan; Trujillo, M. A.; Esteves, Yamnia Rodriguez; Viguria, Antidio

doi:10.1109/lra.2015.2510749

Cited by 117 publications

(83 citation statements)

References 21 publications

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“…Instead of following a weighting strategy, we can impose a hierarchy between the tasks (cost functions), similarly to [17] and [18], but in this case using optimal control. The required scheme is based on nested optimizations as explained in the following.…”

Section: B Hierarchical Approachmentioning

confidence: 99%

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Nonlinear model predictive control for aerial manipulation

Lunni

Santamaria-Navarro

Rossi

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

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Abstract-This paper presents a nonlinear model predictive controller to follow desired 3D trajectories with the end effector of an unmanned aerial manipulator (i.e., a multirotor with a serial arm attached). To the knowledge of the authors, this is the first time that such controller runs online and on board a limited computational unit to drive a kinematically augmented aerial vehicle. Besides the trajectory following target, we explore the possibility of accomplishing other tasks during flight by taking advantage of the system redundancy. We define several tasks designed for aerial manipulators and show in simulation case studies how they can be achieved by either a weighting strategy, within a main optimization process, or a hierarchical approach consisting on nested optimizations. Moreover, experiments are presented to demonstrate the performance of such controller in a real robot.

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Section: B Hierarchical Approachmentioning

confidence: 99%

“…In these works, as in most of recent approaches (e.g., [16], [17], [18]) the problem is solved using hierarchical task composition control but in almost all cases without using optimal control. A close approach is [19], which presents a trajectory generation method for UAMs through quadratic programming, taking advantage of redundancy.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear model predictive control for aerial manipulation

Lunni

Santamaria-Navarro

Rossi

et al. 2017

2017 International Conference on Unmanned Aircraft Systems (ICUAS)

Self Cite

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“…5. Though there have been successful implementations of UAV with manipulator arms able to retrieve and operate small loads [6], this would mean a cost and payload overhead, as our sample collector does not need flexible precise manipulation. As such, the approach taken by the design team (with participation of industry partners) is a container with two high rods which catch into the drone.…”

Section: Sample Carrier and Collection Process Designmentioning

confidence: 99%

A solution for robotized sampling in wastewater plants

Guerra

Bolea

Grau

et al. 2016

IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society

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Abstract-This work presents a solution to automatize the water sampling process of outdoor basins in a wastewater treatment plant. The system proposed is based on the utilization of collaborative robotics: a team of an UAV and a terrestrial robotic platform make a route along the plant collecting and storing the water samples. The architecture of the designed system is described in terms of functional blocks, and implementation details including software frameworks and hardware on the UAV are provided. As the objective of the system is industry levels of robustness and performance, the UAV use is minimized and subjected to control from the robotic ground platform, reducing risks associated with autonomous UAV. To conclude, results from experiments performed to validate the viability of the system and study several design decisions are presented and briefly discussed, including: estimation of the accuracy of several GNSS technologies on the plant, viability of the landing operation over a mobile robotic platform and controlling a quadrotor over waters.

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“…In [5] a hybrid visual servoing was used to control an aerial vehicle with redundant robotic arm. In [6] an adaptive sliding mode control was implemented on an Aerial Manipulator.…”

Section: Introductionmentioning

confidence: 99%