Aerial Robotic Manipulators are systems characterized by a large number of degrees of freedom. The designer’s aim, in addition to move the end-effector, is to take into account, at the same time, several additional control objectives such as, for example, all the safety-related tasks. This Part of the book addresses a possible control approach to achieve coordinated, whole-body control. The solution considered, developed at the kinematic level, lies within a behavioral architecture.