Abstract
This chapter is focused on the control of systems composed by multiple Aerial Robotic Manipulators (i.e., aerial vehicles equipped with grippers and/or robotic arms). In detail, a hierarchical framework for the control of coordinated motion is presented, based on a three-layer architecture. The developed approach is experimentally tested on a system composed by two multi-rotor aerial platforms, each equipped with a 6-Degrees of Freedom manipulator.
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Acknowledgements
The author would like to thank Francesco Pierri and Giuseppe Muscio, among others, for their direct and indirect help in the efforts to the setting up of this Chapter.
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Caccavale, F. (2019). Coordinated Control of Multiple Aerial Manipulators. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_14
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DOI: https://doi.org/10.1007/978-3-030-12945-3_14
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