  Selective interception of objects in unknown environment autonomously by UAVs
is an interesting problem. In this work, vision based interception is carried
out. This problem is a part of challenge 1 of Mohammed Bin Zayed International
Robotic Challenge, 2020, where, balloons are kept at five random locations for
the UAVs to autonomously explore, detect, approach and intercept. The problem
requires a different formulation to execute compared to the normal interception
problems in literature. This work details the different aspect of this problem
from vision to manipulator design. The frame work is implemented on hardware
using Robot Operating System (ROS) communication architecture.
