Aerial grasping of a moving target with a quadrotor UAV

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 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
Pages4985-4992
Number of pages8
DOIs
Publication statusPublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Publication series

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

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period12/10/712/10/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Spica, R., Franchi, A., Oriolo, G., Bulthoff, 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). [6385771] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385771