Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction

Tareq Aziz Hasan Alqutami; Matthew W. Dunnigan; Yvan Petillot; Iskandar Al-Thani Mahmood

doi:10.1007/978-981-95-6678-5_6

Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction

Tareq Aziz Hasan Alqutami^*
, Matthew W. Dunnigan
, Yvan Petillot
, Iskandar Al-Thani Mahmood

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Aerial physical interaction and manipulation has gained demand over the last decade for numerous industrial applications. Research groups are attempting to produce novel fully actuated designs to suit different applications. However, several maintain proprietary flight stacks which prevents research replication and benchmarking and slows down the development pace. This paper novelly proposes a design and control framework that leverages the popular ROS2 middleware and PX4 flight stack to develop controlled fully actuated aerial manipulator. A use case is then presented for aerial physical interaction control for push and slide tasks. The proposed framework will accelerate the development of new aerial manipulators and allow benchmarking and research replication.

Original language	English
Title of host publication	Proceedings of the International Conference on E-Mobility - Volume 1. ICEM 2024
Editors	Taib Iskandar Mohamad, Ramani Kannan
Publisher	Springer
Pages	65-77
Number of pages	13
ISBN (Electronic)	9789819566785
ISBN (Print)	9789819566778
DOIs	https://doi.org/10.1007/978-981-95-6678-5_6
Publication status	Published - 16 Feb 2026
Event	International Conference on E-Mobility 2024 - Kota Kinabalu, Malaysia Duration: 11 Sept 2024 → 12 Sept 2024

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	International Conference on E-Mobility 2024
Abbreviated title	ICEM 2024
Country/Territory	Malaysia
City	Kota Kinabalu
Period	11/09/24 → 12/09/24

Keywords

admittance control
aerial interaction
aerial manipulation
fully actuated
Push and slide
PX4
ROS

ASJC Scopus subject areas

Automotive Engineering
Aerospace Engineering
Mechanical Engineering
Fluid Flow and Transfer Processes

Access to Document

10.1007/978-981-95-6678-5_6

Cite this

Alqutami, T. A. H., Dunnigan, M. W., Petillot, Y., & Mahmood, I. A.-T. (2026). Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction. In T. I. Mohamad, & R. Kannan (Eds.), Proceedings of the International Conference on E-Mobility - Volume 1. ICEM 2024 (pp. 65-77). (Lecture Notes in Mechanical Engineering). Springer. https://doi.org/10.1007/978-981-95-6678-5_6

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title = "Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction",

abstract = "Aerial physical interaction and manipulation has gained demand over the last decade for numerous industrial applications. Research groups are attempting to produce novel fully actuated designs to suit different applications. However, several maintain proprietary flight stacks which prevents research replication and benchmarking and slows down the development pace. This paper novelly proposes a design and control framework that leverages the popular ROS2 middleware and PX4 flight stack to develop controlled fully actuated aerial manipulator. A use case is then presented for aerial physical interaction control for push and slide tasks. The proposed framework will accelerate the development of new aerial manipulators and allow benchmarking and research replication.",

keywords = "admittance control, aerial interaction, aerial manipulation, fully actuated, Push and slide, PX4, ROS",

author = "Alqutami, \{Tareq Aziz Hasan\} and Dunnigan, \{Matthew W.\} and Yvan Petillot and Mahmood, \{Iskandar Al-Thani\}",

note = "Publisher Copyright: {\textcopyright} Institute of Technology PETRONAS Sdn Bhd (Universiti Teknologi PETRONAS) 2026.; International Conference on E-Mobility 2024, ICEM 2024 ; Conference date: 11-09-2024 Through 12-09-2024",

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doi = "10.1007/978-981-95-6678-5\_6",

language = "English",

isbn = "9789819566778",

series = "Lecture Notes in Mechanical Engineering",

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Alqutami, TAH, Dunnigan, MW , Petillot, Y & Mahmood, IA-T 2026, Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction. in TI Mohamad & R Kannan (eds), Proceedings of the International Conference on E-Mobility - Volume 1. ICEM 2024. Lecture Notes in Mechanical Engineering, Springer, pp. 65-77, International Conference on E-Mobility 2024, Kota Kinabalu, Malaysia, 11/09/24. https://doi.org/10.1007/978-981-95-6678-5_6

Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction. / Alqutami, Tareq Aziz Hasan; Dunnigan, Matthew W.; Petillot, Yvan et al.
Proceedings of the International Conference on E-Mobility - Volume 1. ICEM 2024. ed. / Taib Iskandar Mohamad; Ramani Kannan. Springer, 2026. p. 65-77 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction

AU - Alqutami, Tareq Aziz Hasan

AU - Dunnigan, Matthew W.

AU - Petillot, Yvan

AU - Mahmood, Iskandar Al-Thani

N1 - Publisher Copyright: © Institute of Technology PETRONAS Sdn Bhd (Universiti Teknologi PETRONAS) 2026.

PY - 2026/2/16

Y1 - 2026/2/16

N2 - Aerial physical interaction and manipulation has gained demand over the last decade for numerous industrial applications. Research groups are attempting to produce novel fully actuated designs to suit different applications. However, several maintain proprietary flight stacks which prevents research replication and benchmarking and slows down the development pace. This paper novelly proposes a design and control framework that leverages the popular ROS2 middleware and PX4 flight stack to develop controlled fully actuated aerial manipulator. A use case is then presented for aerial physical interaction control for push and slide tasks. The proposed framework will accelerate the development of new aerial manipulators and allow benchmarking and research replication.

AB - Aerial physical interaction and manipulation has gained demand over the last decade for numerous industrial applications. Research groups are attempting to produce novel fully actuated designs to suit different applications. However, several maintain proprietary flight stacks which prevents research replication and benchmarking and slows down the development pace. This paper novelly proposes a design and control framework that leverages the popular ROS2 middleware and PX4 flight stack to develop controlled fully actuated aerial manipulator. A use case is then presented for aerial physical interaction control for push and slide tasks. The proposed framework will accelerate the development of new aerial manipulators and allow benchmarking and research replication.

KW - admittance control

KW - aerial interaction

KW - aerial manipulation

KW - fully actuated

KW - Push and slide

KW - PX4

KW - ROS

UR - https://www.scopus.com/pages/publications/105031163222

U2 - 10.1007/978-981-95-6678-5_6

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M3 - Conference contribution

AN - SCOPUS:105031163222

SN - 9789819566778

T3 - Lecture Notes in Mechanical Engineering

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BT - Proceedings of the International Conference on E-Mobility - Volume 1. ICEM 2024

A2 - Mohamad, Taib Iskandar

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T2 - International Conference on E-Mobility 2024

Y2 - 11 September 2024 through 12 September 2024

ER -

Modeling and Control of a Fully Actuated Aerial Manipulator Using PX4 for Aerial Interaction

Abstract

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Keywords

ASJC Scopus subject areas

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