# Safe Aerial Manipulator Maneuvering and Force Exertion via Control Barrier Functions

arXiv: https://arxiv.org/abs/2309.07709 · HTML: https://mlsanity.com/paper/2309.07709/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 14 Sep 2023.

## Built on by (most cited first, 1 of 1)

- [Meta-Adaptive Beam Search Planning for Transformer-Based Reinforcement Learning Control of UAVs with Overhead Manipulators under Flight Disturbances](https://mlsanity.com/paper/2603.26612/) (2026)

## Abstract (arXiv)

This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose. This controller employs a Control Barrier Function (CBF) constraint within an optimization framework based on Quadratic Programming (QP). The objective is to enforce a predefined relationship between the end-effector's approach motion and its alignment with the surface, thereby ensuring safe operational dynamics. No compliance model for the environment is necessary to implement the controller, provided end-effector force feedback exists. Furthermore, the paper provides formal results, like guarantees of feasibility for the optimization problem, continuity of the controller input as a function of the configuration, and Lyapunov stability. In addition, it presents experimental results in various situations to demonstrate its practical applicability on an aerial manipulator platform.