Fig. 1: The UAM used in the experiments is composed of a 4 DoF quadrotor, commanded at high-level by 3 linear and an angular velocities (νx, νy , νz and ωz), and a 6 DoF robotic arm with joints qj , j = 1...6; and world, camera, tool and body reference frames indicated by the letters w, c, t and b, respectively.
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