Autonomous aerial manipulation at arbitrary pose in SE(3) with robust control and whole-body planning
The International Journal of Robotics Research
Published online on December 27, 2025
Abstract
The International Journal of Robotics Research, Volume 45, Issue 7, Page 1021-1045, June 2026.
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation, the robot can ...
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation, the robot can ...