@article {71,
	title = {A Truly-Redundant Aerial Manipulator System With Application to Push-and-Slide Inspection in Industrial Plants},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	year = {2019},
	month = {01/2019},
	pages = {1846-1851},
	abstract = {<p>We present the design, motion planning, and control of an aerial manipulator for non-trivial physical interaction tasks, such as pushing while sliding on curved surfaces-a task which is motivated by the increasing interest in autonomous non-destructive tests for industrial plants. The proposed aerial manipulator consists of a multidirectional-thrust aerial vehicle-to enhance physical interaction capabilities-endowed with a 2-DoFs lightweight arm-to enlarge its workspace. This combination makes it a trulyredundant manipulator going beyond standard aerial manipulators based on collinear multirotor platforms. The controller is based on a PID method with a {\textquotedblleft}displaced{\textquotedblright} positional part that ensures asymptotic stability despite the arm elasticity. A kinodynamic task-constrained and control-aware global motion planner is used. Experiments show that the proposed aerial manipulator system, equipped with an Eddy current probe, is able to scan a metallic pipe sliding the sensor over its surface and preserving the contact. From the measures, a weld on the pipe is successfully detected and mapped.</p>},
	keywords = {aerial manipulator, contact-based inspection, dexterous manipulators, motion control, motion planning},
	issn = {2377-3766},
	doi = {10.1109/LRA.2019.2895880},
	author = {Marco Tognon and Hermes A. Tello-Chavez and Enrico Gasparin and Quentin Sabl{\'e} and Davide Bicego and Anthony Mallet and Marc Lany and Gilles Santi and Bernard Revaz and Juan Cort{\'e}s and Antonio Franchi}
}
