@conference {2012j-SpiFraOriBueRob,
	title = {Aerial Grasping of a Moving Target with a Quadrotor UAV},
	booktitle = {2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {2012},
	month = {10/2012},
	pages = {4985-4992},
	address = {Vilamoura, Portugal},
	abstract = {For a quadrotor aircraft, we study the problem of planning a trajectory that connects two arbitrary states while allowing the UAV to grasp a moving target at some intermediate time.
To this end, two classes of canonical grasping maneuvers are defined and characterized. A planning strategy relying on differential flatness is then proposed to concatenate one or more grasping maneuvers by means of spline-based subtrajectories, with the additional objective of minimizing the total transfer time.
The proposed planning algorithm is not restricted to pure hovering-to-hovering motions and takes into account practical constraints, such as the finite duration of the grasping phase. 
The effectiveness of the proposed approach is shown by means of physically-based simulations.},
	keywords = {Motion Planning, Optimal Trajectory Planning},
	attachments = {https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012j-SpiFraOriBueRob.pdf , https://homepages.laas.fr/afranchi/robotics/sites/default/files/2012j-SpiFraOriBueRob.mp4},
	author = {Riccardo Spica and Antonio Franchi and Giuseppe Oriolo and Heinrich H. B{\"u}lthoff and Paolo Robuffo Giordano}
}
