Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle

  title={Modeling and Control of MM-UAV: Mobile Manipulating Unmanned Aerial Vehicle},
  author={Matko Orsag and Christopher M. Korpela and Paul Y. Oh},
  journal={Journal of Intelligent \& Robotic Systems},
Compared to autonomous ground vehicles, UAVs (unmanned aerial vehicles) have significant mobility advantages and the potential to operate in otherwise unreachable locations. Micro UAVs still suffer from one major drawback: they do not have the necessary payload capabilities to support high performance arms. This paper, however, investigates the key challenges in controlling a mobile manipulating UAV using a commercially available aircraft and a light-weight prototype 3-arm manipulator. Because… Expand
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