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About this paper
Hamza Tariq, Adeel Akhtar
The authors develop a controller for a quadrotor arm system to keep its center of mass and end effector on separate paths. It preserves path, vehicle-speed, and heading objectives while relaxing only end-effector speed, subject to safety and actuator limits. In Drake simulation, path error peaks at 2.8 mm; results are sampled, not a hardware test or unconditional guarantee.
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