Aerial grasping of a moving target with a quadrotor UAV

Riccardo Spica*, Antonio Franchi, Giuseppe Oriolo, Heinrich H. Bülthoff, Paolo Robuffo Giordano

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

35 Citations (Scopus)

Abstract

For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time. To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time. The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. The effectiveness of the proposed approach is shown by means of physically-based simulations.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages4985-4992
Number of pages8
ISBN (Electronic)978-1-4673-1736-8
ISBN (Print)978-1-4673-1737-5, 978-1-4673-1735-1
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Portugal
Duration: 7 Oct 201212 Oct 2012
Conference number: 25

Publication series

NameIEEE International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Volume2012
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Abbreviated titleIROS
CountryPortugal
CityVilamoura
Period7/10/1212/10/12

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