Aerial Manipulator: behavioral control

Описание: A behavioral control system for Unmanned Aerial Vehicle Manipulators (UAVMs) has been developed within the European Project FP7-IP: Aerial Robotics Cooperative Assembly System (ARCAS). To attain multiple control objectives simultaneously a library of elementary behaviors has been developed; then, multiple elementary behaviors are combined, in a given priority order, into complex tasks (compound behaviors); to this aim the Null-Space-based Behavioral (NSB) approach has been adopted.

References
K. Baizid, G. Giglio, F. Pierri, M.A. Trujillo, G. Antonelli, F. Caccavale, A. Viguria, S. Chiaverini, A. Ollero "Behavioral control of unmanned aerial vehicle manipulator systems." AUTONOMOUS ROBOTS, vol. 41, p. 1203-1220, 2017