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Planning a time-optimal trajectory for aerial robots is critical in manydrone applications, such as rescue missions and package delivery, which havebeen widely researched in recent years. However, it still involves severalchallenges, particularly when it comes to incorporating special taskrequirements into the planning as well as the aerial robot's dynamics. In thiswork, we study a case where an aerial manipulator shall hand over a parcel froma moving mobile robot in a time-optimal manner. Rather than setting up theapproach trajectory manually, which makes it difficult to determine the optimaltotal travel time to accomplish the desired task within dynamic limits, wepropose an optimization framework, which combines discrete mechanics andcomplementarity constraints (DMCC) together. In the proposed framework, thesystem dynamics is constrained with the discrete variational Lagrangianmechanics that provides reliable estimation results also according to ourexperiments. The handover opportunities are automatically determined andarranged based on the desired complementarity constraints. Finally, theperformance of the proposed framework is verified with numerical simulationsand hardware experiments with our self-designed aerial manipulators.

Time-Optimal Handover Trajectory Planning for Aerial Manipulators based on Discrete Mechanics and Complementarity Constraints