Aerial grasping of a moving target with a quadrotor UAV

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

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

28 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 publicationIEEE International Conference on Intelligent Robots and Systems
Pages4985-4992
Number of pages8
DOIs
Publication statusPublished - 2012 Dec 1
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 2012 Oct 72012 Oct 12

Other

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

Fingerprint

Unmanned aerial vehicles (UAV)
Antennas
Planning
Splines
Trajectories
Aircraft

ASJC Scopus subject areas

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

Cite this

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

Aerial grasping of a moving target with a quadrotor UAV. / Spica, Riccardo; Franchi, Antonio; Oriolo, Giuseppe; Bulthoff, Heinrich; Giordano, Paolo Robuffo.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 4985-4992 6385771.

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

Spica, R, Franchi, A, Oriolo, G, Bulthoff, H & Giordano, PR 2012, Aerial grasping of a moving target with a quadrotor UAV. in IEEE International Conference on Intelligent Robots and Systems., 6385771, pp. 4985-4992, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 12/10/7. https://doi.org/10.1109/IROS.2012.6385771
Spica R, Franchi A, Oriolo G, Bulthoff H, Giordano PR. Aerial grasping of a moving target with a quadrotor UAV. In IEEE International Conference on Intelligent Robots and Systems. 2012. p. 4985-4992. 6385771 https://doi.org/10.1109/IROS.2012.6385771
Spica, Riccardo ; Franchi, Antonio ; Oriolo, Giuseppe ; Bulthoff, Heinrich ; Giordano, Paolo Robuffo. / Aerial grasping of a moving target with a quadrotor UAV. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 4985-4992
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