Adaptively Leveling a UAV with Three-arm Aerial Manipulator System on Shifting Ground

Abstract

Robot interaction with the environment is preferable to help and respond quickly during disasters. Unmanned aerial vehicles (UAV s) are among the quickest robotic platforms that can be deployed on the field. However, if a UAV lands on an unknown site, it will be unable to take-off if the UAV frame is not level, which might be due to shifting of the ground or unstable platforms. We examine the challenge of UAV takeoff from a sloped platform in this work, and we suggest the design and use of a three-arm aerial manipulator system to autonomously keep the UAV frame leveled at all times for safe take-off.