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  Aerial Grasping of a Moving Target with a Quadrotor UAV

Spica, R., Franchi, A., Oriolo, G., Bülthoff, H., & Robuffo Giordano, P. (2012). Aerial Grasping of a Moving Target with a Quadrotor UAV. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4985-4992). Piscataway, NJ, USA: IEEE.

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 Creators:
Spica, R1, 2, Author              
Franchi, A1, 2, Author              
Oriolo, G, Author
Bülthoff, HH1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497794              

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 Abstract: 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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 Dates: 2012-10
 Publication Status: Published in print
 Pages: -
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 Rev. Type: -
 Identifiers: DOI: 10.1109/IROS.2012.6385771
BibTex Citekey: SpicaFOBR2012
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Title: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)
Place of Event: Vilamoura, Portugal
Start-/End Date: 2012-10-07 - 2012-10-12

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Title: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Source Genre: Proceedings
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Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4985 - 4992 Identifier: ISBN: 978-1-4673-1737-5