By Topic

Visual coordinated landing of a UAV on a mobile robot manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Vincenzo Lippiello ; Dept. of Electr. Eng. & Inf. Technol., Univ. of Naples Federico II, Naples, Italy ; Rafik Mebarki ; Fabio Ruggiero

In this paper an image-based visual-servoing control law for the coordinated landing of a VToL UAV on an actuated landing platform is proposed. The landing platform is carried by a mobile manipulator composed of a mobile platform and a robotic arm. The UAV is endowed with a downward camera employed for the coordination of the landing manoeuvres. The presence of redundancy in the system at the task level, the intrinsic redundancy of the mobile manipulator, and the under-actuation of the UAV are explicitly addressed into the proposed control law. The effectiveness of the proposed approach is tested though simulations.

Published in:

2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

Date of Conference:

21-26 Oct. 2013