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This paper presents a new method to address the problem of task-constrained motion planning for aerial manipulators. We propose a control-aware planner based on the paradigm of tight coupling between planning and control. Such paradigm is especially useful in aerial manipulation, where the separation between planning and control is not advisable. The proposed sampling based motion planner uses a controller composed of a second-order inverse kinematics algorithm and a dynamic tracker, as a localdoi:10.1109/lra.2018.2803206 dblp:journals/ral/TognonCCACF18 fatcat:aacxtadkwffk5ptj26h6jytb4i