Comparison of motion planning techniques for a multi-rotor UAS equipped with a multi-joint manipulator Arm

This paper presents a comparison between different motion planning algorithms for a multi-rotor UAS equipped with a multi-joint robotic arm. This type of platform is considered in the ARCAS European Project for the assembly of a structure by using a team of aerial robots equipped with on-board manipulators. The practical interest of this system can be found in situations where it is required to build a structure in places with difficult access by conventional means. This work explains the simulation framework developed and the results obtained with different motion planning methods within this framework.