AeroGrab: A Unified Framework for Aerial Grasping in Cluttered Environments

• URL: http://arxiv.org/abs/2603.15097v1
• Date: Mon, 16 Mar 2026 10:50:03 GMT
• Title: AeroGrab: A Unified Framework for Aerial Grasping in Cluttered Environments
• Abstract summary: We present an integrated pipeline for reliable aerial grasping in cluttered environments.<n>The system identifies the target object and actively explores it to gain better views of the object.<n>Experiments in cluttered real-world scenarios demonstrate robust and reliable grasp execution.
• Score: 0.5377664327091393
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Reliable aerial grasping in cluttered environments remains challenging due to occlusions and collision risks. Existing aerial manipulation pipelines largely rely on centroid-based grasping and lack integration between the grasp pose generation models, active exploration, and language-level task specification, resulting in the absence of a complete end-to-end system. In this work, we present an integrated pipeline for reliable aerial grasping in cluttered environments. Given a scene and a language instruction, the system identifies the target object and actively explores it to gain better views of the object. During exploration, a grasp generation network predicts multiple 6-DoF grasp candidates for each view. Each candidate is evaluated using a collision-aware feasibility framework, and the overall best grasp is selected and executed using standard trajectory generation and control methods. Experiments in cluttered real-world scenarios demonstrate robust and reliable grasp execution, highlighting the effectiveness of combining active perception with feasibility-aware grasp selection for aerial manipulation.

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