Robotic aircraft refueling: a concept demonstration

A shared system in which a human positions the refueling arm in the vicinity of an aircraft and then allows the refueling port detection and nozzle insertion to be done automatically by a combination of visual servoing and compliant control is discussed. Experimental concept evaluations have successfully demonstrated algorithms for port detection, visual servoing, and compliant control of nozzle motion and insertion. A project overview is provided.<
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