Elisabetta Cataldi — accepted AI-conference papers

2018

Control-Aware Motion Planning for Task-Constrained Aerial Manipulation

Marco Tognon, Elisabetta Cataldi, Hermes Amadeus Tello Chavez, Gianluca Antonelli, Juan Cortés, Antonio Franchi

RA-L 2018

This letter 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 separati

Cited by 47 Source ↗Scholar ↗

2017

6D physical interaction with a fully actuated aerial robot

Markus Ryll, Giuseppe Muscio, Francesco Pierri, Elisabetta Cataldi, Gianluca Antonelli, Fabrizio Caccavale +1

ICRA 2017poster

This paper presents the design, control, and experimental validation of a novel fully-actuated aerial robot for physically interactive tasks, named Tilt-Hex. We show how the Tilt-Hex, a tilted-propeller hexarotor is able to control the full pose (position and orientation independently) using a geome…

Cited by 214 Source ↗Scholar ↗

2016

Experiments on coordinated motion of aerial robotic manipulators

Giuseppe Muscio, Francesco Pierri, Miguel Angel Trujillo, Elisabetta Cataldi, Gerardo Giglio, Gianluca Antonelli +4

ICRA 2016

In this paper a three layer control architecture for multiple aerial robotic manipulators is presented. The top layer, on the basis of the desired mission, determines the end-effector desired trajectory for each manipulator, while the middle layer is in charge of computing the motion references in o

Cited by 28 Source ↗Scholar ↗