Coordinated Control of Multiple Aerial Manipulators

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.