@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} }