44 • IEEE ROBOTICS & AUTOMATION MAGAZINE • MARCH 2019 1070-9932/19©2019IEEE T his article proposes a novel docking system design for unmanned aerial vehicles (UAVs) that provides measurements of the robot’s position at high frequency. These measurements are used to control the aerial robot, enabling it to hover while it performs any kind of manipulation task in GPS-denied industrial environments without causing the UAV to drift or putting at risk the platform and its environment. The novel tool is designed as an arm end effector, preventing the aerial manipulator from colliding while in operation. A cascade controller is proposed to close the position loop. An additional use case for the docking system is described in the “Experimental Vali- dation” section; it consists of performing position-based servoing (PBS) of a second manipulator using the position provided by the docking tool and the manipulator’s kinematic model. IMAGE LICENSED BY INGRAM PUBLISHING Controlling Aerial Robotic Manipulators in Outdoor Industrial Applications Digital Object Identifier 10.1109/MRA.2018.2884744 Date of publication: 24 January 2019 By Pablo Ramon Soria, B.C. Arrue, and Anibal Ollero