Vision-Guided Aerial Manipulator
Autonomous grasping and placement using quadrotor motion planning and vision
This project focused on enabling a quadrotor to perform grasp-and-place tasks with visual feedback. The system combined motion planning, control, and perception so the aerial platform could execute smooth, stable manipulation actions.
What I worked on
- Implemented minimum-snap trajectory optimization for smooth quadrotor motion profiles.
- Integrated motion controllers with VLM outputs to support LiDAR-free autonomous manipulation.
- Stabilized grasping and placing behaviors using the manipulator system.
Key takeaway
The project demonstrated how visual guidance and optimized motion generation can be combined to enable semi-autonomous aerial manipulation in practical scenarios.