Second-generation ROS2 libraries and nodes for trajectory tracking with multirotor UAVs. For the original implementation, refer to the contrail packages.
TODO!
TODO!
This package has been independently developed by Kye Morton.
This package currently has no citable work. For the time being, please cite the original mantis package:
@phdthesis{quteprints201669,
author = {Kye Morton},
title = {An extensible framework for nonlinear aerial manipulation},
year = {2020},
school = {Queensland University of Technology},
doi = {10.5204/thesis.eprints.201669},
keywords = {Aerial Manipulation, Robotics, Nonlinear Control, Autonomous Systems, Multirotor, Manipulation},
abstract = {This thesis presents a framework to aid in the design of a wide range of aerial manipulation systems. The framework provides an extensible architecture to develop, compare, and contrast new guidance and control methods for aerial manipulators.
Key developments include a range of novel techniques to generate and track practically feasible trajectories, recover from large disturbances, and the ability to perform complex manipulation tasks. The framework is an important step towards safe and reliable aerial manipulation.},
url = {https://eprints.qut.edu.au/201669/}
}
The name jetstream is homage to the fast-flowing air currents in the high-atmosphere which can be used to improve aircraft performance (under specific conditions).