Fully Actuated

Fully actuated unmanned aerial vehicles (UAVs), offering independent control over all six degrees of freedom, are transforming aerial manipulation and interaction. Current research emphasizes developing robust control strategies for tasks like pushing, sliding, and visual servoing, often incorporating force/impedance control and model-free estimation techniques to handle uncertainties in contact and environmental interactions. This capability enables precise, safe, and efficient execution of complex tasks in challenging environments, with applications ranging from bridge maintenance to non-destructive testing, significantly advancing the capabilities of aerial robotics.