This monograph covers theoretical and practical aspects of the problem of autonomous guiding of
unmanned aerial manipulators using visual information. For the estimation of the vehicle state
(position orientation velocity and acceleration) the authors propose a method that relies
exclusively on the use of low-cost and highrate sensors together with low-complexity
algorithms. This is particularly interesting for applications in which on board computation
with low computation power is needed. Another relevant topic covered in this monograph is
visual servoing. The authors present an uncalibrated visual servo scheme capable of estimating
at run time the camera focal length from the observation of a tracked target. The monograph
also covers several control techniques which achieve a number of tasks such as robot and arm
positioning improve stability and enhance robot arm motions. All methods discussed in this
monograph are demonstrated in simulation and through real robot experimentation. The text is
appropriate for readers interested in state estimation and control of aerial manipulators and
is a reference book for people who work in mobile robotics research in general.
