UAVs for aerial manipulation

Using aerial platforms to manipulate objects presents control challenges during transitions between manipulation states (grabbed vs not grabbed) and during manipulation itself in the presence of nonlinear resistive forces (e.g. friction). This project will advance the state-of-the-art control methods for aerial manipulation of objects under the action of highly nonlinear resistive forces, mimicking tasks such as removing rubble during a search and rescue mission or removing and replacing tiles on a building.