Collaborative Aerial Manipulation

Aerial robots present a unique capability to manipulate objects in a three-dimensional space without being limited to a region/workspace. These aerial vehicles can be used to perform aerial manipulation tasks such as grasping/positioning, assembling/disassembling parts, or transporting payloads using one or more vehicles. However, this is not without its share of challenges. Such aerial-vehicle configurations are typically underactuated and require good safety-critical control to avoid collisions with external obstacles and other agents in the systems.

Aerial Manipulation

Payload Transportation

Estimation on Smooth Manifolds

Adaptive Control on \(SO(3)\)