A General Control Architecture for Visual Servoing and Physical Interaction Tasks for Fully-actuated Aerial Vehicles

Gianluca Corsini,Martin Jacquet,Antonio Enrique Jimenez-Cano,Amr Afifi,Daniel Sidobre,Antonio Franchi

2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)（2021）

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摘要

In this paper, we present a general control architecture that allows fully-actuated aerial robots to autonomously accomplish tasks that require both perception and physical interaction with the external environment. We integrate the novel Flying End-Effector paradigm and a Hybrid Visual Ser-voing (HVS) scheme to design a general control architecture for fully-actuated aerial robots. Thanks to the ...

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