@inproceedings{d98f0de54d1d4082a90f8d7240f20d8e,
title = "Null-Space Based Control Applied to a Formation of Aerial Manipulators in Congested Environment",
abstract = "The present work shows a control strategy based on null-space for monitoring the trajectory of a training of aerial manipulators in congested environments. By means of the null-space control, several control objectives can be achieved, assigning a priority to each of the objectives. The strategy proposes the control of a homogeneous formation of three aerial manipulators for the tasks of trajectory tracking and the evasion of obstacles. The aerial manipulator is composed of a quadcopter and a robotic arm of three degrees of freedom. Obstacle avoidance uses the definition of a fictional potential field. The stability of the proposed controls is verified according to the Lyapunov criteria and the results obtained from simulation show the good performance of the proposed controller.",
keywords = "Aerial manipulator, null-space, obstacle avoidance, robot formation",
author = "Oscar Camacho and Paulo Leica and Jefferson Antamba and Johana Quinonez",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 4th International Conference on Information Systems and Computer Science, INCISCOS 2019 ; Conference date: 20-11-2019 Through 22-11-2019",
year = "2019",
month = nov,
doi = "10.1109/INCISCOS49368.2019.00046",
language = "Ingl{\'e}s",
series = "Proceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "244--250",
booktitle = "Proceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019",
}