ArticleScientific reports2025
Aerial manipulation of long objects using adaptive neuro-fuzzy controller under battery variability.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
1 citing paper in PubMed.
- Reinforcement learning for end-to-end UAV slung-load navigation and obstacle avoidance.Scientific reports · 2025Article
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Authors and funding
8 authors.
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Abstract
Aerial manipulation provides adaptable solutions for executing tasks in constrained environments, particularly in civil engineering and disaster response. This paper presents a UAV-based aerial manipulation system for the precise handling and transportation of long objects, such as pipes, in uncertain conditions. Compared to single- or dual-arm systems, which are difficult to scale and maintain, the proposed design features a modular two-finger gripper, enhancing scalability and reliability while reducing mechanical complexity. To address challenges such as positional drift, which can compromise mission success, the system employs a SO-BFBEL controller controller to enhance stability and precision and it is compared with DNN-MRFT-based PID and Fuzzy SMC controller. Experimental results demonstrate that the SO-BFBEL controller reduces the position tracking error up to 50% and compensates for wind disturbances and battery discharge fluctuations more effectively than conventional methods. Additionally, the SO-BFBEL controller can help to conserve battery life during manipulation phases which can boost the operational efficiency without incurring any additional costs.
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Registered trials
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