Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots
Liping Shi,Michael Pantic,Olov Andersson,Marco Tognon,Roland Siegwart,Rune Hylsberg Jacobsen,Liping Shi,Michael Pantic,Olov Andersson,Marco Tognon,Roland Siegwart,Rune Hylsberg Jacobsen
In this work we address the challenging problem of manipulating a flexible link, like a rope, with an aerial robot. Inspired by spraying tasks in construction and maintenance scenarios, we consider the case in which an autonomous end-effector (e.g., a spray nozzle moved by a robot or a human operator) is connected to a fixed point by a rope (e.g., a hose). To avoid collisions between the rope and ...
