Hierarchical Control of Redundant Aerial Manipulators with Enhanced Field of View

Providing the operator with a good view of the remote site is of paramount importance in aerial telemanipulation. In light of that, this paper proposes the application of a hierarchical control framework in order to tackle the problem of adjusting the field of view of an on-board camera as a secondary task. The proposed approach ensures that the flying base, and consequently the camera, can be ste...