R. Spica, A. Franchi, G. Oriolo, H. H. Bülthoff, P. Robuffo Giordano. Aerial Grasping of a Moving Target with a Quadrotor UAV. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2012, Pages 4985-4992, Vilamoura, Portugal, October 2012.
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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
@InProceedings{C38,
Author = {Spica, R. and Franchi, A. and Oriolo, G. and H. Bülthoff, H. and Robuffo Giordano, P.},
Title = {{Aerial Grasping of a Moving Target with a Quadrotor {UAV}}},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS 2012},
Pages = {4985--4992},
Address = {Vilamoura, Portugal},
Month = {October},
Year = {2012}
}
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