Aerial grasping of a moving target with a quadrotor UAV

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

51 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
Pages	4985-4992
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2012.6385771
Publication status	Published - 2012
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: 2012 Oct 7 → 2012 Oct 12

Publication series

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

Other

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

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2012.6385771

Cite this

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Spica, R, Franchi, A, Oriolo, G, Bulthoff, 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, 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

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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.",

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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

Abstract

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