@inproceedings{Muscio2016,
  author = {Muscio, G. and Pierri, F. and Trujillo, M. A. and Cataldi, E. and Giglio, G. and Antonelli, G. and Caccavale, F. and Viguria, A. and Chiaverini, S. and Ollero, A.},
  title = {Experiments on coordinated motion of aerial robotic manipulators},
  booktitle = {Proceedings - IEEE International Conference on Robotics and Automation},
  volume = {2016-June},
  doi = {10.1109/ICRA.2016.7487252},
  issn = {ISSN(print='10504729', electronic=None)},
  abstract = {© 2016 IEEE.In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in order to track such end-effectors trajectories coming from the upper layer. Finally the bottom layer is a low level motion controller, which tracks the motion references. The overall mission is decomposed in a set of elementary behaviors which are combined together, through the Null Space-based Behavioral (NSB) approach, into more complex compounds behaviors. The proposed framework has been tested conducting an experimental campaign.},
  year = {2016},
}

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