@inproceedings{c4f41a65fc414d458f4a67c1c9f1ab21,
title = "2D Contour Following with an Unmanned Aerial Manipulator: Towards Tactile-Based Aerial Navigation",
abstract = " In this paper we present a force control via energy tanks method for use with an unmanned aerial manipulator for the purposes of 2D contour following. This allows an aerial vehicle to trace out a boundary whilst in continuous contact with a surface through means of an active compliant manipulator. This is a key step towards tactile-based aerial navigation, which can be used to complement more traditional mapping approaches such as visual slam. Our results show that an energy-based approach can be used to apply a constant shear force through the manipulator whilst ensuring the vehicle remains in contact with the surface of interest. Results also show that this is a robust, repeatable approach to aerial tactile interaction and one which has the potential to be used in highly complex, unknown environments.",
keywords = "Aerial Robotics Applications, Aerial Robotics Mechanics and Control, Tactile Navigation, Manipulation",
author = "Salua Hamaza and Ioannis Georgilas and Tom Richardson",
year = "2020",
month = jan,
day = "28",
doi = "10.1109/IROS40897.2019.8968591",
language = "English",
series = "Intelligent Robots and Systems (IROS), IEEE International Workshop on",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
pages = "3664--3669",
booktitle = "2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
address = "United States",
}