8 accepted papers
The Schrödinger Bridge provides a principled framework for modeling stochastic processes between distributions; however, existing methods are limited by energy-conservation assumptions, which constrains the bridge's shape preventing it from model varying-energy phenomena. To overcome this, we introd…
In this paper, we address the problem of cooperative manipulation of a cable-suspended load by a team of aerial robots. Unlike classical approaches that rely on centralized controllers, we propose a Distributed Nonlinear Model Predictive Control (DNMPC) framework in which the UAVs communicate over a…
Accurately modeling and predicting complex dynamical systems, particularly those involving force exchange and dissipation, is crucial for applications ranging from fluid dynamics to robotics, but presents significant challenges due to the intricate interplay of geometric constraints and energy trans…
In this paper, we propose a distributed algorithm to control a team of cooperating robots aiming to protect a target from a set of intruders. Specifically, we model the strategy of the defending team by means of an online optimization problem inspired by the emerging distributed aggregative framewor…
This letter introduces <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">CrazyChoir</small> , a modular Python framework based on the Robot Operating System (ROS) 2. The toolbox provides a comprehensive set of functionalities to simulate and run experiment
Physical human-robot collaboration is increasingly required in many contexts. To implement an effective collaboration, the robot should be able to recognize the human’s intentions and guarantee safe and adaptive behavior along the intended motion directions. The robot-control strategies with such at…
In this letter, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in simulation or experimentally, with a particular focus on n
In this paper we face the challenging problem of takeoff and landing on sloped surfaces for a VTOL aerial vehicle. We define the general conditions for a safe and robust maneuver and we analyze and compare two classes of methods to fulfill these conditions: free-flight vs. passively-tethered. Focusi…