Hierarchical task control for aerial inspection
Document typeConference report
Rights accessOpen Access
European Commission's projectARCAS - Aerial Robotics Cooperative Assembly System (EC-FP7-287617)
This paper presents a task oriented control strategy for aerial vehicles equipped with a robotic arm and a camera attached to its end-effector. With this setting the camera can reach a new set of orientations previously not feasible for the quadrotor. The over-actuation of the whole system is exploited with a hierarchical control law to achieve a primary task consisting on a visual servoing control, whilst secondary tasks can also be attained to minimize gravitational effects or undesired arm configurations. Results are shown in a Robot Operating System (ROS) simulation.
CitationSantamaria, A.; Andrade-Cetto, J. Hierarchical task control for aerial inspection. A: Workshop and Summer School on Field Robotics. "Proceedings of the 2014 euRathlon-ARCAS Workshop and Summer School on Field Robotics,". Sevilla: 2014, p. 1-4.