An extensible framework for nonlinear aerial manipulation
Kye Morton · Queensland University of Technology · 2020
This thesis presents a framework to aid in the design of a wide range of aerial manipulation systems. The framework provides an extensible architecture to develop, compare, and contrast new guidance and control methods for aerial manipulators. Key developments include a range of novel techniques to generate and track practically feasible trajectories, recover from large disturbances, and the ability to perform complex manipulation tasks. The framework is an important step towards safe and reliable aerial manipulation.