Aerial grasping of a moving target with a quadrotor UAV

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… (More)
DOI: 10.1109/IROS.2012.6385771

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