Aerial manipulation—A literature survey

Abstract

This paper presents a literature survey on aerial manipulation. First of all, an extensive study of aerial vehicles and manipulation/interaction mechanisms in aerial manipulation is presented. Various combinations of aerial vehicles and manipulators and their applications in different missions are discussed. Next, two main modeling methods and a detailed investigation of existing estimation and control techniques in aerial manipulation are explained. Finally the shortcomings of current aerial manipulation research are highlighted and a number of directions for future research are suggested.