Aerial grasping of a moving target with a quadrotor UAV

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

doi:10.1109/IROS.2012.6385771

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 proceeding › Conference contribution › Academic › peer-review

56 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 language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	4985-4992
Number of pages	8
ISBN (Electronic)	978-1-4673-1736-8
ISBN (Print)	978-1-4673-1737-5, 978-1-4673-1735-1
DOIs	https://doi.org/10.1109/IROS.2012.6385771
Publication status	Published - 2012
Externally published	Yes
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 Conference number: 25

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems (IROS)
Publisher	IEEE
Volume	2012
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Abbreviated title	IROS
Country/Territory	Portugal
City	Vilamoura
Period	7/10/12 → 12/10/12

Access to Document

10.1109/IROS.2012.6385771

Cite this

Spica, R., Franchi, A., Oriolo, G., Bülthoff, H. H., & Giordano, P. R. (2012). Aerial grasping of a moving target with a quadrotor UAV. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 4985-4992). Article 6385771 (IEEE International Conference on Intelligent Robots and Systems (IROS); Vol. 2012). IEEE. https://doi.org/10.1109/IROS.2012.6385771

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title = "Aerial grasping of a moving target with a quadrotor UAV",

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.",

author = "Riccardo Spica and Antonio Franchi and Giuseppe Oriolo and B{\"u}lthoff, \{Heinrich H.\} and Giordano, \{Paolo Robuffo\}",

year = "2012",

doi = "10.1109/IROS.2012.6385771",

language = "English",

isbn = "978-1-4673-1737-5",

series = "IEEE International Conference on Intelligent Robots and Systems (IROS)",

publisher = "IEEE",

pages = "4985--4992",

booktitle = "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012",

address = "United States",

note = "25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, IROS ; Conference date: 07-10-2012 Through 12-10-2012",

}

Spica, R, Franchi, A, Oriolo, G, Bülthoff, HH & Giordano, PR 2012, Aerial grasping of a moving target with a quadrotor UAV. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6385771, IEEE International Conference on Intelligent Robots and Systems (IROS), vol. 2012, IEEE, Piscataway, NJ, pp. 4985-4992, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385771

Aerial grasping of a moving target with a quadrotor UAV. / Spica, Riccardo; Franchi, Antonio; Oriolo, Giuseppe et al.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. Piscataway, NJ: IEEE, 2012. p. 4985-4992 6385771 (IEEE International Conference on Intelligent Robots and Systems (IROS); Vol. 2012).

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

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AB - 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.

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Aerial grasping of a moving target with a quadrotor UAV

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