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Aerial Manipulation, Visual Servoing in

  • Living reference work entry
  • First Online:
Encyclopedia of Robotics

  • 457 Accesses

Acronyms

  1. DoF

    Degree-of-Freedom

  2. GPS

    Global Positioning System

  3. IBVS

    Image-Based Visual Servoing

  4. PBVS

    Position-Based Visual Servoing

  5. UAV

    Unmanned Aerial Vehicle

  6. VToL

    Vertical Take-Off and Landing

Synonyms

Servoing: feedback control

Definition

Visual servoing in aerial manipulation is a control technique based on the use of visual feedback provided by a camera onboard the vehicle, e.g., mounted on the base or on the end-effector of the robot arm, aimed at stabilizing the state of the system, i.e., the relative poses and velocities of the base and of the robot arm with respect to a target object on the ground, as well as with respect to obstacles present in the operation scene.

Overview

The autonomy degree of a UAV depends on the capability of acquire information of the surrounding environment. Global Positioning System (GPS) and vision are the most employed sensing equipments. However, GPS lacks precision, is low-rate, and suffers from signal loss in urban and cluttered areas Sattigeri et...

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References

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Naples, Italy

    Vincenzo Lippiello

Authors
  1. Vincenzo Lippiello
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Corresponding author

Correspondence to Vincenzo Lippiello .

Editor information

Editors and Affiliations

  1. Dept. of Mechanical Engineering Blk 1E Gillman Hts #17-43, National University of Singapore, Singapore, Singapore

    Marcelo H Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Dipto di Informatica e Sistemistca, Univ di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

Section Editor information

  1. GRVC Robotics Labs. Sevilla, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Aníbal Ollero

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Lippiello, V. (2020). Aerial Manipulation, Visual Servoing in. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_80-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_80-1

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  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

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