arxivcs.ROeess.SYmath.DSmath.OC2026-07-22
Contact-Persistent Full Actuation for Aerial Physical Interaction
Abhimanyu Khadga, Abhinav Sinha, Shashi Ranjan Kumar
Fully actuated unmanned aerial vehicles (UAVs) are usually certified through rank conditions on a control-allocation matrix or through free-flight tracking performance. For aerial physical interaction, this certification may be incomplete. During sustained contact, part of the av…