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@unpublished{Tzoumanikas:2020,
author = {Tzoumanikas, D and Graule, F and Yan, Q and Shah, D and Popovic, M and Leutenegger, S},
publisher = {arXiv},
title = {Aerial manipulation using hybrid force and position NMPC applied to  aerial writing},
url = {http://arxiv.org/abs/2006.02116v1},
year = {2020}
}

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TY  - UNPB
AB  - Aerial manipulation aims at combining the manoeuvrability of aerial vehicleswith the manipulation capabilities of robotic arms. This, however, comes at thecost of the additional control complexity due to the coupling of the dynamicsof the two systems. In this paper we present a NMPC specifically designed forMAVs equipped with a robotic arm. We formulate a hybrid control model for thecombined MAV-arm system which incorporates interaction forces acting on the endeffector. We explain the practical implementation of our algorithm and showextensive experimental results of our custom built system performing multipleaerial-writing tasks on a whiteboard, revealing accuracy in the order ofmillimetres.
AU  - Tzoumanikas,D
AU  - Graule,F
AU  - Yan,Q
AU  - Shah,D
AU  - Popovic,M
AU  - Leutenegger,S
PB  - arXiv
PY  - 2020///
TI  - Aerial manipulation using hybrid force and position NMPC applied to  aerial writing
UR  - http://arxiv.org/abs/2006.02116v1
UR  - http://hdl.handle.net/10044/1/79820
ER  -

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