Hybrid Visual Servoing with Hierarchical Task Composition for Aerial Manipulation
V. Lippiello, J. Cacace, A. Santamaria-Navarro, J. Andrade-Cetto, M.A. Trujillo, Y. Rodriguez Esteves and A. Viguria
IEEE Robotics and Automation Letters, 1(1): 259-266, 2016

In this paper a hybrid visual servoing with a hierar- chical task-composition control framework is described for aerial manipulation, i.e. for the control of an aerial vehicle endowed with a robot arm. The proposed approach suitably combines into a unique hybrid-control framework the main benefits of both image-based and position-based control schemes. Moreover, the underactuation of the aerial vehicle has been explicitly taken into account in a general formulation, together with a dynamic smooth activation mechanism. Both simulation case studies and experiments are presented to demonstrate the performance of the proposed technique.