Aerial Robotic Manipulation

Research, Development and Applications

  • Anibal Ollero
  • Bruno Siciliano

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 129)

Table of contents

  1. Front Matter
    Pages i-xxi
  2. Introduction

    1. Front Matter
      Pages 1-1
    2. Anibal Ollero, Bruno Siciliano
      Pages 3-11
  3. Aerial Robots with Arms: Design, Modelling and Mechatronics Aspects

    1. Front Matter
      Pages 13-14
    2. Guillermo Heredia, Raul Cano, Antonio Jimenez-Cano, Anibal Ollero
      Pages 15-33
    3. Manuel Bejar, Anibal Ollero, Konstantin Kondak
      Pages 35-52
    4. Antonio Franchi
      Pages 53-65
    5. Pedro Sanchez-Cuevas, Guillermo Heredia, Anibal Ollero
      Pages 67-82
    6. Alejandro Suarez, Guillermo Heredia, Anibal Ollero
      Pages 83-95
  4. Control of Aerial Manipulators

    1. Front Matter
      Pages 97-99
    2. Gianluca Antonelli
      Pages 101-117
    3. Antonio Jimenez-Cano, Guillermo Heredia, Anibal Ollero
      Pages 119-126
    4. Manuel Bejar, Anibal Ollero, Konstantin Kondak
      Pages 127-146
    5. Francesco Pierri
      Pages 147-157
    6. Angel Santamaria-Navarro, Juan Andrade-Cetto, Vincenzo Lippiello
      Pages 191-202
    7. Fabrizio Caccavale
      Pages 203-215
  5. Perception for Aerial Robotic Manipulation

    1. Front Matter
      Pages 217-218
    2. A. Santamaria-Navarro, J. Solà, J. Andrade-Cetto
      Pages 219-228
    3. M. Polvillo, J. L. Paneque, J. R. Martinez-de Dios
      Pages 229-238
    4. A. Pumarola, Alexander Vakhitov, Antonio Agudo, F. Moreno-Noguer, A. Sanfeliu
      Pages 239-248
    5. A. Amor-Martinez, A. Ruiz, F. Moreno-Noguer, A. Sanfeliu
      Pages 249-259
    6. E. Guerra, A. Pumarola, A. Grau, A. Sanfeliu
      Pages 275-283
  6. Planning for Aerial Robotic Manipulation

    1. Front Matter
      Pages 297-297
    2. Raphaël Lallement, Juan Cortés, Mamoun Gharbi, Alexandre Boeuf, Rachid Alami, Carmelo J. Fernandez-Agüera et al.
      Pages 299-316
    3. Alexandre Boeuf, Juan Cortés, Thierry Siméon
      Pages 317-332
    4. Alvaro Caballero, Manuel Bejar, Angel Rodriguez-Castaño, Anibal Ollero
      Pages 333-348
  7. Applications

    1. Front Matter
      Pages 349-349
    2. Miguel Angel Trujillo, Vincenzo Lippiello, Angel Santamaria, Antidio Viguria
      Pages 351-365
    3. Anibal Ollero, Antidio Viguria, Miguel Angel Trujillo, Moritz Oetiker, Bernard Revaz
      Pages 367-379
  8. Conclusions and Future Directions

    1. Front Matter
      Pages 381-381
    2. Anibal Ollero, Bruno Siciliano
      Pages 383-385

About this book


Aerial robotic manipulation integrates concepts and technologies coming from unmanned aerial systems and robotics manipulation. It includes not only kinematic, dynamics, aerodynamics and control but also perception, planning, design aspects, mechatronics and cooperation between several aerial robotics manipulators.

All these topics are considered in this book in which the main research and development approaches in aerial robotic manipulation are presented, including the description of relevant systems. In addition of the research aspects, the book also includes the deployment of real systems both indoors and outdoors, which is a relevant characteristic of the book because most results of aerial robotic manipulation have been validated only indoor using motion tracking systems. Moreover, the book presents two relevant applications: structure assembly and inspection and maintenance, which has started to be applied in the industry. The Chapters of the book will present results of two main European Robotics Projects in aerial robotics manipulation:

FP7 ARCAS and H2020 AEROARMS. FP7 ARCAS defined the basic concepts on aerial robotic manipulation, including cooperative manipulation. The H2020 AEROARMS on aerial robot with multiple arms and advanced manipulation capabilities for inspection and maintenance has two general objectives: (1) development of advanced aerial robotic manipulation methods and technologies, including manipulation with dual arms and multi-directional thrusters aerial platforms; and (2) application to the inspection and maintenance.


Aerial robotics Manipulation control of aerial robotic manipulator perception planning tele-manipulation inspection and maintenance structure assembly

Editors and affiliations

  • Anibal Ollero
    • 1
  • Bruno Siciliano
    • 2
  1. 1.GRVC Robotics Lab SevilleUniversidad de SevillaSevilleSpain
  2. 2.Dipartimento di Ingegneria Elettrica e delle Tecnologie dell’InformazioneUniversità di Napoli Federico IINapoliItaly

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