Energy Tank-Based Policies for Robust Aerial Physical Interaction with Moving Objects
Maximilian Brunner,Livio Giacomini,Roland Siegwart,Marco Tognon,Maximilian Brunner,Livio Giacomini,Roland Siegwart,Marco Tognon
Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in real scenarios, modeling the environment with high accuracy is often impossible. In this work, we aim at developing a control framework for Omnidirectional Micro...
