Dual Path Following for an Aerial Manipulator Under State and Input Constraints via Transverse Feedback Linearization
Overview
This research presents a control framework for a quadrotor carrying a three-degree-of-freedom arm to follow two simultaneous paths (vehicle center of mass and end-effector) while respecting joint limits and avoiding singularities. The authors derive a normal form without internal dynamics, formulate the controller as a quadratic program with closed-form solutions under relaxed speed constraints, and demonstrate conflict resolution in the Drake physics engine by slowing the end effector when necessary. Code and animations are provided at https://gradslab.github.io/am_dual_pf-/
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Artifact availability · code: available
“cascade with a safety filter leaves both paths. Code and animations are available at https://gradslab.github.io/am_dual_pf-/”
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- arXiv Robotics — research abstractsSignalDual Path Following for an Aerial Manipulator Under State and Input Constraints via Transverse Feedback Linearization
This research presents a control framework for a quadrotor carrying a three-degree-of-freedom arm to follow two simultaneous paths (vehicle center of mass and end-effector) while respecting joint limits and avoiding singularities. The authors derive a normal form without internal dynamics, formulate the controller as a quadratic program with closed-form solutions under relaxed speed constraints, and demonstrate conflict resolution in the Drake physics engine by slowing the end effector when necessary. Code and animations are provided at https://gradslab.github.io/am_dual_pf-/
Event coverage history
Current attention 4·Peak within the comparable range 5（2026-11-04 09:00 UTC）·Change within the comparable range over 24 hours –
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