Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

In this paper, we present a coordinated and reactive human-aware motion planner for performing a handover task by an autonomous aerial manipulator (AAM). We present a method to determine the final state of the AAM for a handover task based on the current state of the human and the surrounding obstacles. We consider the visual field of the human and the effort to turn the head and see the AAM as well as the discomfort caused to the human. We apply these social constraints together with the kinematic constraints of the AAM to determine its coordinated motion along the trajectory.

Automated summary

This paper presents a coordinated and reactive human-aware motion planner for performing a handover task by an autonomous aerial manipulator (AAM). The method takes into account the visual field of the human, the effort to turn the head and see the AAM, as well as the discomfort caused to the human. These social constraints are combined with the kinematic constraints of the AAM to determine its coordinated motion along the trajectory.