Autori
Roberto Rossi and Paolo Rocco
Abstract
In the last decade, aerial robotics has received increasing attention both in the scientific literature and in the applications. While Unmanned Aerial Vehicles (UAV) are largely used for inspection, surveillance and sensing, recently the research interest on aerial robotics is shifting from passive applications to tasks where the robot actively interacts with the environment. Providing manipulation capability to UAVs would enable novel perspectives for robotics research.
In order to demonstrate the feasibility of aerial manipulation systems, this work has been developed around two main goals: improve the control for an underactuated aerial manipulator and compute reference trajectories in order to exploit the redundancy of the system by means of optimization based algorithms.
The work will make reference to an aerial manipulator composed of a quadrotor equipped with a serial robotic arm.
