# Sequential Manipulation Planning for Over-actuated Unmanned Aerial Manipulators

arXiv: https://arxiv.org/abs/2306.14105 · HTML: https://mlsanity.com/paper/2306.14105/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 25 Jun 2023.

## Built on by (most cited first, 2 of 2)

- [LLM3:Large Language Model-based Task and Motion Planning with Motion Failure Reasoning](https://mlsanity.com/paper/2403.11552/) (2024)
- [FLOAT Drone: A Fully-actuated Coaxial Aerial Robot for Close-Proximity Operations](https://mlsanity.com/paper/2503.00785/) (2025)

## Abstract (arXiv)

We investigate the sequential manipulation planning problem for unmanned aerial manipulators (UAMs). Unlike prior work that primarily focuses on one-step manipulation tasks, sequential manipulations require coordinated motions of a UAM's floating base, the manipulator, and the object being manipulated, entailing a unified kinematics and dynamics model for motion planning under designated constraints. By leveraging a virtual kinematic chain (VKC)-based motion planning framework that consolidates components' kinematics into one chain, the sequential manipulation task of a UAM can be planned as a whole, yielding more coordinated motions. Integrating the kinematics and dynamics models with a hierarchical control framework, we demonstrate, for the first time, an over-actuated UAM achieves a series of new sequential manipulation capabilities in both simulation and experiment.