Ali Srour — accepted AI-conference papers

2025

Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty

Ali Srour, Antonio Franchi, Paolo Robuffo Giordano, Marco Cognetti

RA-L 2025

In this letter, we experimentally validate the recent concepts of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">closed-loop state and input sensitivity</i> in the context of robust manipulation control for a robot manipulator. Our objective is to a

Cited by 5 Source ↗Scholar ↗

2023

Controller and Trajectory Optimization for a Quadrotor UAV with Parametric Uncertainty

Ali Srour, Antonio Franchi, Paolo Robuffo Giordano

IROS 2023poster

In this work, we exploit the recent notion of closed-loop state sensitivity to critically compare three typical controllers for a quadrotor UAV with the goal of evaluating the impact of controller choice, gain tuning and shape of the reference trajectory in minimizing the sensitivity of the closed-l…

Cited by 12 Source ↗Scholar ↗