|Thesis abstract: |
The growth of Aerial Robotics during the very last years is justified by its great number of potential applications, such as surveying and maintenance tasks, aerial transportation and manipulation, search and rescue, and surveillance. Autonomous localization, mapping, planning, and navigation for Unmanned Aerial Vehicles (UAV) are ongoing research fields that already make possible the accomplishment of non-contact missions (such as surveillance). On the other hand, the interaction of flying robots with environment is a newborn topic, which would extend enormously the applicability of UAVs, complementing the results that the analogous research on mobile manipulation on wheeled robots is obtaining.
The goal of the work is to develop and implement a control structure for the system composed by an Unmanned Aerial Vehicle, specifically a quadrotor, and a Robotic Arm, in order to accomplish manipulation tasks. It aims at exploiting the opportunities given by quadrotors, characterized by high dexterity, in order to perform tasks precluded to ground robots.