@article {74,
	title = {Direct Force Feedback Control and Online Multi-Task Optimization for Aerial Manipulators},
	journal = {IEEE Robotics and Automation Letters},
	volume = {5},
	year = {2020},
	month = {2019/12},
	pages = {331-338},
	abstract = {<p>In this letter we present an optimization-based method for controlling aerial manipulators in physical contact with the environment. The multi-task control problem, which includes hybrid force-motion tasks, energetic tasks, and position/postural tasks, is recast as a quadratic programming problem with equality and inequality constraints, which is solved online. Thanks to this method, the aerial platform can be exploited at its best to perform the multi-objective tasks, with tunable priorities, while hard constraints such as contact maintenance, friction cones, joint limits, maximum and minimum propeller speeds are all respected. An on-board force/torque sensor mounted at the end effector is used in the feedback loop in order to cope with model inaccuracies and reject external disturbances. Real experiments with a multi-rotor platform and a multi-DoF lightweight manipulator demonstrate the applicability and effectiveness of the proposed approach in the real world.</p>},
	keywords = {aerial physical interaction, aerial systems: mechanics and control, force control, force feedback, hybrid force-motion tasks, multitask control problem, position control, quadratic programming},
	issn = {2377-3766},
	doi = {10.1109/LRA.2019.2958473},
	author = {Gabriele Nava and Quentin Sabl{\'e} and Marco Tognon and Daniele Pucci and Antonio Franchi}
}
