# Strain-Parameterized Coupled Dynamics and Dual-Camera Visual Servoing for Aerial Continuum Manipulators

arXiv: https://arxiv.org/abs/2603.23333 · HTML: https://mlsanity.com/paper/2603.23333/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 4 of its 33 references that are in the map.
- First posted on arXiv 24 Mar 2026.

## Builds on (most cited first, 4 of 4)

- [Modeling and Control of an Omnidirectional Micro Aerial Vehicle Equipped with a Soft Robotic Arm](https://mlsanity.com/paper/2111.03111/) (2021)
- [Modular Adaptive Aerial Manipulation under Unknown Dynamic Coupling Forces](https://mlsanity.com/paper/2410.08285/) (2024)
- [Hybrid Multi-camera Visual Servoing to Moving Target](https://mlsanity.com/paper/1803.02285/) (2018)
- [Deep Visual Servoing of an Aerial Robot Using Keypoint Feature Extraction](https://mlsanity.com/paper/2503.23171/) (2025)

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

- [Temporal Learning for End-Effector Position Estimation under Aerodynamic Disturbances in Aerial Continuum Manipulation](https://mlsanity.com/paper/2609.28716/) (2026)

## Abstract (arXiv)

Tendon-driven aerial continuum manipulators (TD-ACMs) combine the maneuverability of uncrewed aerial vehicles (UAVs) with the compliance of lightweight continuum robots (CRs). Existing coupled dynamic modeling approaches for TD-ACMs incur high computational costs and do not explicitly account for aerial platform underactuation. To address these limitations, this paper presents a generalized dynamic formulation of a coupled TD-ACM with an underactuated base. The proposed approach integrates a strain-parameterized Cosserat rod model with a rigid-body model of the UAV into a unified Lagrangian ordinary differential equation (ODE) framework on SE(3), thereby eliminating computationally intensive symbolic derivations. Building upon the developed model, a robust dual-camera image-based visual servoing (IBVS) scheme is introduced. The proposed controller mitigates the field-of-view (FoV) limitations of conventional IBVS, compensates for attitude-induced image motion caused by UAV lateral dynamics, and incorporates a low-level adaptive controller to address modeling uncertainties with formal stability guarantees. Extensive simulations and experimental validation on a compact custom-built prototype demonstrate the effectiveness and robustness of the proposed framework in real-world scenarios.