A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Gianluca Corsini; Martin Jacquet; Antonio Enrique Jimenez-Cano; Amr Afifi; Daniel Sidobre; Antonio Franchi

doi:10.1109/AIRPHARO52252.2021.9571053

A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Gianluca Corsini, Martin Jacquet, Antonio Enrique Jimenez-Cano, Amr Afifi, Daniel Sidobre, Antonio Franchi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

2 Citations (Scopus)

44 Downloads (Pure)

Abstract

In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.

Original language	English
Title of host publication	2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)
Publisher	IEEE
Number of pages	8
ISBN (Print)	978-1-6654-3390-7
DOIs	https://doi.org/10.1109/AIRPHARO52252.2021.9571053
Publication status	Published - 5 Oct 2021
Event	1st Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021 - Biograd na Moru, Croatia Duration: 4 Oct 2021 → 5 Oct 2021 Conference number: 1

Workshop

Workshop	1st Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021
Abbreviated title	AIRPHARO 2021
Country/Territory	Croatia
City	Biograd na Moru
Period	4/10/21 → 5/10/21

Keywords

Visualization
Observers
Cameras
Unmanned aerial vehicles
Visual servoing
End effectors
Trajectory
2023 OA procedure

Access to Document

10.1109/AIRPHARO52252.2021.9571053

A_General_Control_Architecture_for_Visual_Servoing_and_Physical_Interaction_Tasks_for_Fully-actuated_Aerial_VehiclesFinal published version, 563 KBLicence: Taverne

Cite this

@inproceedings{82b0862826754736b6c1aeeb18c205ca,

title = "A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles",

abstract = "In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.",

keywords = "Visualization, Observers, Cameras, Unmanned aerial vehicles, Visual servoing, End effectors, Trajectory, 2023 OA procedure",

author = "Gianluca Corsini and Martin Jacquet and Jimenez-Cano, {Antonio Enrique} and Amr Afifi and Daniel Sidobre and Antonio Franchi",

year = "2021",

month = oct,

day = "5",

doi = "10.1109/AIRPHARO52252.2021.9571053",

language = "English",

isbn = "978-1-6654-3390-7",

booktitle = "2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)",

publisher = "IEEE",

address = "United States",

note = "1st Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021, AIRPHARO 2021 ; Conference date: 04-10-2021 Through 05-10-2021",

}

Corsini, G, Jacquet, M, Jimenez-Cano, AE, Afifi, A, Sidobre, D & Franchi, A 2021, A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles. in 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)., 9571053, IEEE, 1st Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021, Biograd na Moru, Croatia, 4/10/21. https://doi.org/10.1109/AIRPHARO52252.2021.9571053

A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles. / Corsini, Gianluca; Jacquet, Martin; Jimenez-Cano, Antonio Enrique et al.
2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). IEEE, 2021. 9571053.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

AU - Corsini, Gianluca

AU - Jacquet, Martin

AU - Jimenez-Cano, Antonio Enrique

AU - Afifi, Amr

AU - Sidobre, Daniel

AU - Franchi, Antonio

N1 - Conference code: 1

PY - 2021/10/5

Y1 - 2021/10/5

N2 - In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.

AB - In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the proposed solution, a fully-actuated aerial robot can autonomously accomplish tasks that require both perception and physical interaction without resorting to any external force/torque sensor. The control architecture is entirely described, features a wrench observer and an admittance filter, and is subsequently validated on real experiments. The code for the proposed control architecture is provided open-source.

KW - Visualization

KW - Observers

KW - Cameras

KW - Unmanned aerial vehicles

KW - Visual servoing

KW - End effectors

KW - Trajectory

KW - 2023 OA procedure

U2 - 10.1109/AIRPHARO52252.2021.9571053

DO - 10.1109/AIRPHARO52252.2021.9571053

M3 - Conference contribution

SN - 978-1-6654-3390-7

BT - 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)

PB - IEEE

T2 - 1st Workshop on Aerial Robotic Systems Physically Interacting with the Environment, AIRPHARO 2021

Y2 - 4 October 2021 through 5 October 2021

ER -

A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Abstract

Workshop

Keywords

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